A three-dimensional attitude compensation device for vehicle-mounted laser radar

Abstract

The present invention relates to the technical field of three-dimensional ranging and positioning equipment, and in particular to a three-dimensional attitude compensation device for a vehicle-mounted laser radar, the technical solution of which includes a mounting frame, a mounting ring and a radar component, sliders are welded on both sides of the mounting frame, and a slide rail is installed at the bottom of the slider by bolts. The mounting frame is a hollow square frame structure, and four shock-absorbing cylinders are fixedly installed at equal intervals on the top of the mounting frame. The present invention calibrates the radar component on the cone seat and the top of the cone seat by adopting a cone seat and a calibration ring, and can simultaneously initialize and calibrate the X-axis, Y-axis and Z-axis, so that before the device works, the cone seat and the mounting plate are kept at the same inclination angle, and then the radar component is compensated for in real time in conjunction with the inclination sensor and the level to ensure the accuracy of the attitude compensation, and simplifies the calibration work before the device works, and improves the efficiency of the preparation work before the device is used.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional distance measurement and positioning equipment, and in particular to a three-dimensional attitude compensation device for a vehicle-mounted laser radar. Background Art

[0002] With the continuous updating and iteration of automobile industry technology, autonomous driving technology and intelligent assisted driving technology have gradually become standard configurations of modern new energy vehicles. Among them, laser radar detects surrounding objects by emitting high-density laser pulses and measuring the reflected light, which greatly improves the detection accuracy of the car's surrounding environment and provides great help for intelligent assisted driving technology and autonomous driving technology. During the use of laser radar on the vehicle, it is necessary to continuously adjust the three-dimensional dynamics to ensure the detection accuracy of the laser radar. Therefore, we propose a three-dimensional attitude compensation device for vehicle-mounted laser radar.

[0003] The prior art also has the following defects during use:

[0004] 1. When the three-dimensional attitude compensation device of the vehicle-mounted laser radar in the prior art performs three-dimensional attitude compensation on the laser radar, its attitude compensation structure adopts a combined three-axis movement method to dynamically compensate the laser radar. Before dynamic compensation, the laser radar cannot be initialized and calibrated according to the actual usage scenario, and the combined three-axis movement attitude compensation device needs to perform attitude calibration for the X-axis, Y-axis and Z-axis respectively, resulting in a high initial calibration difficulty and cumbersome calibration steps, which leads to inaccurate initial attitude of the attitude compensation device before working, thereby affecting the subsequent real-time attitude compensation of the laser radar;

[0005] 2. During operation of the vehicle-mounted laser radar three-dimensional attitude compensation device in the prior art, the laser radar is directly exposed to the surrounding environment and is easily affected by rain, fog and dust in the surrounding environment, thereby reducing the detection effect and detection accuracy of the laser radar for the surrounding environment.

[0006] In view of this, we propose a vehicle-mounted lidar three-dimensional posture compensation device to solve the existing problems. Summary of the invention

[0007] The purpose of the present invention is to provide a vehicle-mounted laser radar three-dimensional attitude compensation device to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: a vehicle-mounted laser radar three-dimensional attitude compensation device, comprising a mounting frame, a mounting ring and a radar assembly, wherein sliders are welded on both sides of the mounting frame, a slide rail is installed at the bottom of the slider by bolts, the mounting frame is a hollow square frame structure, and four shock-absorbing cylinders are fixedly installed at equal intervals on the top of the mounting frame;

[0009] A mounting ring is fixedly installed on the top of the shock-absorbing cylinder, at least three pneumatic telescopic rods are rotatably installed on the top of the mounting ring, a cone seat is rotatably installed on the top of the pneumatic telescopic rod, the cone seat is a solid structure that is wide at the top and narrow at the bottom, and an inclination sensor is fixedly installed on the bottom of the cone seat;

[0010] A radar component is fixedly installed on the top of the cone seat;

[0011] A mounting plate is fixedly mounted on the top of the mounting frame, and four level gauges are fixedly mounted at equal intervals on the top of the mounting plate;

[0012] A controller is fixedly mounted on the top of the mounting plate, a mounting box is fixedly mounted on the top of the controller, a mounting seat is fixedly mounted on the top of the mounting box, and a calibration ring is fixedly mounted on the top of the mounting seat.

[0013] Preferably, the radar assembly includes a laser radar, a base is fixedly mounted on the bottom of the laser radar, and the base is connected to the top of the cone seat by bolts;

[0014] A top cover is fixedly installed on the top of the laser radar. The top cover is a cone-shaped structure, and a plurality of groups of guide vanes are fixedly installed at equal intervals on the top of the top cover. Three arc-shaped mounting rods are fixedly installed on the side of the top cover, and fan blades are rotatably installed on the outer side of the mounting rods.

[0015] Preferably, wiring sockets are arranged at equal intervals on the side of the controller, and the wiring sockets are electrically connected to the pneumatic telescopic rod, the inclination sensor, the laser radar and the level through wires.

[0016] Preferably, grooves are provided on both sides of the slide rail, and the grooves are engaged with the raised parts on the inner side of the slider, and mounting holes are provided at equal intervals on the top of the slide rail, and the mounting holes are engaged with two bolts on the top of the slider.

[0017] Preferably, a polarizing lens is fixedly installed on the front of the laser radar, and a double-layer waterproof adhesive strip is fixedly installed between the polarizing lens and the laser radar detection port.

[0018] Preferably, ball head covers are fixedly mounted on both ends of the pneumatic telescopic rod, and the ball head covers are composed of two hollow hemispherical covers.

[0019] Preferably, a plurality of ball heads are welded to the top of the mounting ring, and the ball heads are respectively connected to the ball head covers at the bottom ends of a plurality of pneumatic telescopic rods.

[0020] Preferably, a plurality of ball heads are provided on the side of the cone seat, and the ball heads on the side of the cone seat are respectively connected to the ball head covers at the top ends of a plurality of pneumatic telescopic rods.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention calibrates the cone seat and the radar component on the top of the cone seat by adopting a cone seat and a calibration ring, and can simultaneously initialize and calibrate the X-axis, Y-axis and Z-axis, so that before the device works, the cone seat and the mounting plate are kept at the same inclination angle, and then the radar component is compensated for in real time in conjunction with the inclination sensor and the level to ensure the accuracy of the attitude compensation, and simplifies the calibration work before the device works, thereby improving the efficiency of the preparation work before the device is used.

[0023] 2. The present invention installs guide vanes and fan blades on the top and sides of the laser radar. When the laser radar itself rotates, the guide vanes and fan blades are driven to rotate synchronously, and the fan blades and guide vanes will not affect the detection range of the laser radar, so that the fog, dust around the laser radar and rainwater falling from the top can be kept away from the detection port of the laser radar, so that the detection port of the laser radar remains clean, thereby ensuring the detection accuracy of the laser radar for the surrounding environment in an environment with a lot of rain, fog and dust. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the present invention at the mounting frame;

[0026] Figure 3 For the present invention Figure 2 A schematic diagram of the structural connection after the mounting ring and mounting plate are added to the foundation;

[0027] Figure 4 For the present invention Figure 3 A schematic diagram of the structure after adding a pneumatic telescopic rod and a cone seat to the basis;

[0028] Figure 5 It is a front structural schematic diagram of the present invention;

[0029] Figure 6 It is a schematic diagram of the three-dimensional structure of the radar component of the present invention.

[0030] In the figure: 1. mounting frame; 101. slide rail; 102. slider; 103. shock-absorbing cylinder; 2. mounting ring; 201. pneumatic telescopic rod; 202. cone seat; 203. inclination sensor; 3. controller; 301. mounting box; 302. mounting seat; 303. calibration ring; 4. radar assembly; 401. base; 402. guide vane; 403. top cover; 404. mounting rod; 405. laser radar; 406. fan blade; 5. mounting plate; 501. level. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0032] As Figure 1 - Figure 6 shown, a three-dimensional attitude compensation device for a vehicle-mounted lidar proposed by the present invention includes a mounting frame 1, a mounting ring 2 and a radar assembly 4. Sliders 102 are welded on both sides of the mounting frame 1, and a slide rail 101 is installed at the bottom of the slider 102 by bolts. The mounting frame 1 is a hollow square frame structure, and four shock-absorbing cylinders 103 are fixedly installed at equal intervals on the top of the mounting frame 1. The mounting frame 1 can provide a mounting position for the surrounding components. The slider 102 has a 冂-shaped structure. The slider 102 cooperates with the slide rail 101. After the slide rail 101 is fixedly installed on the roof of the vehicle, by adjusting the position of the slider 102, the mounting frame 1 and the components on its top can be fixedly installed at a specified position on the roof of the vehicle, avoiding the detection range of the lidar 405 being blocked by the vehicle body, so that the lidar 405 can detect the environment around the vehicle on the roof of the vehicle to improve the detection effect of the lidar 405 on the surrounding environment. The shock-absorbing cylinders 103 are respectively installed in four directions on the top of the mounting frame 1. The mounting frame 1 is connected to the mounting ring 2 through the shock-absorbing cylinders 103. By applying elastic force to the mounting ring 2 through the shock-absorbing cylinders 103 and actively adjusting the magnitude of the elastic force, the mounting ring 2 and the components on the top can be kept stable in the vertical direction, and the vibration transmitted to the mounting ring 2 during the vehicle driving process can be reduced, so that the components on the top of the mounting ring 2 can work under relatively stable conditions. And when the mounting ring 2 and the components on its top move in the vertical direction, by adjusting the lengths of the four shock-absorbing cylinders 103, the mounting ring 2 can be quickly restored to the horizontal state, thereby realizing the attitude compensation of the lidar 405 in the Z axis;

[0033] A mounting ring 2 is fixedly installed on the top of the shock-absorbing cylinder 103, and at least three pneumatic telescopic rods 201 are rotatably installed on the top of the mounting ring 2. A cone seat 202 is rotatably installed on the top of the pneumatic telescopic rod 201. The cone seat 202 is a solid structure that is wide at the top and narrow at the bottom. An inclination sensor 203 is fixedly installed on the bottom of the cone seat 202. The mounting ring 2 can provide an installation position for the components on the top, and after the mounting ring 2 is connected to the four shock-absorbing cylinders 103 at the bottom, the mounting ring 2 and the components on the top of the mounting ring 2 can be damped and supported by the shock-absorbing cylinders 103, and the four shock-absorbing cylinders 103 can adjust the shock absorption strength and the support length separately, so that when the mounting ring 2 moves longitudinally, the mounting ring 2 can be quickly pushed to restore the horizontal state, and the longitudinal posture compensation of the laser radar 405 can be realized. The pneumatic telescopic rod 201 is provided with at least three, and the cone seat 202 and the mounting ring 2 are connected by the pneumatic telescopic rod 201, so as to push the cone seat 202 to move above the mounting ring 2, and the pneumatic telescopic rod 201 is connected with the mounting ring 2 and the cone seat 202 through the ball head cover. When the pneumatic telescopic rod 201 is extended and retracted, the cone seat 202 can be pulled 2 is used to tilt the X-axis and Y-axis, so that when the laser radar 405 is working, when the vehicle body tilts due to driving, the pneumatic telescopic rod 201 pulls the cone seat 202 to move the X-axis and Y-axis, so that the cone seat 202 quickly returns to a horizontal state, thereby realizing the posture compensation of the X-axis and Y-axis directions of the laser radar 405. The cone seat 202 is used to provide an installation position for the radar component 4, and is connected to the pneumatic telescopic rod 201 through the cone seat 202, so that the pneumatic telescopic rod 201 adjusts the cone seat 202, thereby realizing the X-axis and Y-axis posture compensation of the radar component 4. The radar assembly 4 can perform three-dimensional posture compensation in the working process by cooperating with the shock-absorbing cylinder 103 to perform posture compensation on the Z axis. The inclination sensor 203 adopts the T211 type. The inclination sensor 203 is fixedly installed at the bottom of the cone seat 202, and can detect the inclination angles of the X axis and the Y axis, so as to judge the inclination degree of the cone seat 202. The detection data fed back to the controller 3 by the inclination sensor 203 enables the controller 3 to control the pneumatic telescopic rod 201 to extend and retract, so as to perform posture compensation on the X axis and the Y axis of the cone seat 202;

[0034] A radar assembly 4 is fixedly mounted on the top of the cone seat 202. The radar assembly 4 can emit laser pulses through a laser radar 405 to monitor the surrounding environment, so as to assist the vehicle in automatic driving or intelligent assisted driving through the detected environmental information;

[0035] A mounting plate 5 is fixedly mounted on the top of the mounting frame 1. Four level gauges 501 are fixedly mounted on the top of the mounting plate 5 at equal intervals. The mounting plate 5 is used to provide a mounting position for the components on the top. The level gauges 501 are of LCT543T type. The level gauges 501 are distributed in four directions on the top of the mounting plate 5 and can detect the inclination angle of the mounting plate 5. The detection data fed back to the controller 3 by the level gauges 501 enables the controller 3 to control the shock-absorbing cylinder 103 to extend and retract, thereby adjusting the inclination angle of the mounting ring 2, so as to keep the mounting ring 2 horizontal, and facilitate the components on the top of the mounting ring 2 to perform attitude compensation on the radar component 4;

[0036] The top of the mounting plate 5 is fixedly mounted with a controller 3, the top of the controller 3 is fixedly mounted with a mounting box 301, the top of the mounting box 301 is fixedly mounted with a mounting seat 302, and the top of the mounting seat 302 is fixedly mounted with a calibration ring 303. The controller 3 is of FX5U type. The controller 3 can receive the data detected by the inclination sensor 203 and the level 501, and by collecting the detected data, control the pneumatic telescopic rod 201 and the shock-absorbing cylinder 103 to extend and retract, thereby realizing the three-dimensional posture compensation of the X-axis, Y-axis and Z-axis for the radar component 4. The mounting box 301 can provide the surrounding components with The mounting base 302 can provide a fixed mounting position for the calibration ring 303, and the calibration ring 303 can contact the side wall of the cone seat 202, so that the cone seat 202 can be clamped in the inside of the calibration ring 303 after vertically descending, and the pneumatic telescopic rod 201 can be fine-tuned by controlling the detection data of the inclination sensor 203, so as to initialize the telescopic length of the pneumatic telescopic rod 201, so as to calibrate the cone seat 202, so as to facilitate the three-dimensional posture compensation of the cone seat 202 in the later stage, thereby ensuring the three-dimensional posture compensation effect and accuracy of the device for the radar component 4.

[0037] Further, the radar assembly 4 includes a laser radar 405, a base 401 is fixedly installed at the bottom of the laser radar 405, and the base 401 is connected to the top of the cone seat 202 by bolts. The laser radar 405 adopts a VLP16 type. The laser radar 405 can emit laser pulses to detect the surrounding environment. At the same time, the laser radar 405 can rotate to expand the detection range. The base 401 is fixedly connected to the cone seat 202, thereby ensuring the installation stability of the laser radar 405;

[0038] A top cover 403 is fixedly installed on the top of the laser radar 405. The top cover 403 is a cone-shaped structure, and a plurality of groups of guide vanes 402 are fixedly installed on the top of the top cover 403 at equal intervals. Three arc-shaped mounting rods 404 are fixedly installed on the side of the top cover 403. Fan blades 406 are rotatably installed on the outer side of the mounting rods 404. The top cover 403 is fixedly connected to the top of the laser radar 405. The top cover 403 can provide an installation position for the guide vanes 402 and the mounting rods 404. The top cover 403 adopts a cone structure with a pointed top. The top cover 403 can rotate synchronously with the laser radar 405, thereby driving the guide vanes 402 and the mounting rods 404 to rotate. The guide vanes 402 can guide rainwater on the top of the top cover 403 to move around the laser radar 405 and be thrown out under the action of centrifugal force, thereby preventing rainwater from flowing downward along the outer wall of the laser radar 405 and preventing rainwater from affecting the laser. In order to reduce the impact of the detection effect of the radar 405, the mounting rod 404 is an arc-shaped rod, the top of the mounting rod 404 is fixedly connected to the bottom of the top cover 403, the bottom is a free end, and the bottom of the mounting rod 404 extends to the inside of the cone seat 202, and the mounting rod 404 is driven to rotate through the top cover 403, and the mounting rod 404 is limited by the cone seat 202, so that the mounting rod 404 can remain stable when rotating synchronously with the laser radar 405, and the fan blades 406 can rotate with the rotation of the mounting rod 404, so that the fan blades 406 drive the air around the laser radar 405 to flow, so that the fog and dust in the surrounding environment are kept away from the laser radar 405, and the water vapor and dust in the fog are prevented from accumulating on the surface of the laser radar 405, so that the surface of the laser radar 405 can be kept clean, and the propagation of the laser pulse is avoided, so that the laser radar 405 can maintain a good detection effect.

[0039] Furthermore, wiring sockets are arranged at equal intervals on the sides of the controller 3, and the wiring sockets are electrically connected to the pneumatic telescopic rod 201, the inclination sensor 203, the laser radar 405 and the spirit level 501 through wires. The wiring sockets can facilitate the electrical connection of the controller 3 with the pneumatic telescopic rod 201, the inclination sensor 203, the laser radar 405 and the spirit level 501, so that the controller 3 can collect data detected by the inclination sensor 203 and the spirit level 501, and then control the pneumatic telescopic rod 201 and the shock-absorbing cylinder 103 to perform three-dimensional posture compensation.

[0040] Furthermore, grooves are provided on both sides of the slide rail 101, and the grooves are engaged with the raised parts on the inner side of the slider 102. Mounting holes are provided at equal intervals on the top of the slide rail 101, and the mounting holes are engaged with the two bolts on the top of the slider 102. The grooves on both sides of the slide rail 101 can engage with the raised parts on the inner side of the slider 102, thereby limiting the longitudinal position of the slider 102 and the slide rail 101, so that the slider 102 can slide horizontally on the outer side of the slide rail 101 and maintain stability in the vertical direction. By using bolts to cooperate with the mounting holes, the bolts can be passed through the slider 102 and then fixed to the slide rail 101, so that after the slider 102 is moved to the specified position, the horizontal sliding of the slider 102 is limited to ensure the stability of the mounting frame 1 and its top component during operation.

[0041] Furthermore, a polarized lens is fixedly installed on the front of the laser radar 405, and a double-layer waterproof tape is fixedly installed between the polarized lens and the detection port of the laser radar 405. The polarized lens can filter the light in the surrounding environment, thereby eliminating the stray light that affects the detection accuracy of the laser radar 405. The double-layer waterproof tape can improve the sealing of the connection between the laser radar 405 and the polarized lens, thereby preventing water vapor from entering the interior of the polarized lens to generate fog and affect the detection of the laser radar 405.

[0042] Furthermore, ball head covers are fixedly installed at both ends of the pneumatic telescopic rod 201, and the ball head covers are composed of two hollow hemispherical covers. The pneumatic telescopic rod 201 is connected to the mounting ring 2 and the cone seat 202 respectively through the ball head covers, so that the pneumatic telescopic rod 201 can adjust the inclination angle when telescoping, thereby driving the cone seat 202 to move, so as to facilitate three-dimensional dynamic posture compensation and calibration of the cone seat 202.

[0043] Furthermore, a plurality of ball heads are welded on the top of the mounting ring 2 , and the ball heads are respectively connected to the ball head covers at the bottom ends of a plurality of pneumatic telescopic rods 201 .

[0044] Furthermore, a plurality of ball heads are provided on the side of the cone seat 202 , and the ball heads on the side of the cone seat 202 are respectively connected to the ball head covers at the top ends of the plurality of pneumatic telescopic rods 201 .

[0045] Working principle: After the device is assembled, the slide rail 101 is fixed on the roof by bolts, and after adjusting the position of the slider 102, the slider 102 is fixed by bolts, and the inclination angles of the mounting plate 5 and the cone seat 202 are detected by the level meter 501 and the inclination sensor 203 respectively. The controller 3 collects the data detected by the level meter 501 and the inclination sensor 203, and determines whether the cone seat 202 is horizontal by the difference between the data detected by the level meter 501 and the inclination sensor 203;

[0046] Before the laser radar 405 works, the controller 3 controls the pneumatic telescopic rod 201 and the shock-absorbing cylinder 103 to telescope, so that the mounting ring 2 remains horizontal, and the pneumatic telescopic rod 201 pulls the cone seat 202 to vertically descend, so that the cone seat 202 contacts the calibration ring 303. After the cone seat 202 contacts the calibration ring 303, the telescopic length of the pneumatic telescopic rod 201 is initialized, and the cone seat 202 is calibrated, so that it is in an initial posture before driving the laser radar 405 to work;

[0047] After the laser radar 405 starts working, the pneumatic telescopic rod 201 pushes the cone seat 202 to rise, and the cone seat 202 is separated from the calibration ring 303. The inclination sensor 203 detects the inclination angles of the X-axis and Y-axis of the cone seat 202 in real time. The data detected by the inclination sensor 203 is transmitted to the controller 3, and the controller 3 controls the pneumatic telescopic rod 201 to extend and retract respectively, and adjusts the cone seat 202 to quickly restore the initial posture. The level 501 detects the inclination angle of the mounting plate 5 in real time. The controller 3 collects the inclination angle value detected by the level 501, controls the extension and retraction of the shock-absorbing cylinder 103, and controls the controller 3 in real time. The support force of the shock-absorbing cylinder 103 on the mounting ring 2 is controlled, so that the mounting ring 2 is in a horizontal state for operation, and the vibration intensity transmitted to the mounting ring 2 by the vehicle body through the slide rail 101 is reduced. When the laser radar 405 is working, it drives the top cover 403 and its surrounding components to rotate. On rainy or foggy days, when there are many particles in the air, the guide plate 402 and the fan blade 406 rotate synchronously with the laser radar 405 to remove water vapor and particles in the environment around the laser radar 405 and keep the water vapor and particles away from the laser radar 405. The laser radar 405 continuously emits laser pulses to scan the surrounding environment.

[0048] The above-mentioned specific embodiments are only several preferred embodiments of the present invention. Based on the technical solutions of the present invention and the relevant inspirations of the above-mentioned embodiments, those skilled in the art can make various alternative improvements and combinations to the above-mentioned specific embodiments.

Claims

1. A vehicle-mounted laser radar three-dimensional attitude compensation device, comprising a mounting frame (1), a mounting ring (2) and a radar assembly (4), characterized in that: Slide blocks (102) are welded on both sides of the mounting frame (1), a slide rail (101) is installed on the bottom of the slide block (102) by means of bolts, the mounting frame (1) is a hollow square frame structure, and four shock-absorbing cylinders (103) are fixedly installed at equal intervals on the top of the mounting frame (1); A mounting ring (2) is fixedly mounted on the top of the shock-absorbing cylinder (103); at least three pneumatic telescopic rods (201) are rotatably mounted on the top of the mounting ring (2); a cone seat (202) is rotatably mounted on the top of the pneumatic telescopic rod (201); the cone seat (202) is a solid structure that is wide at the top and narrow at the bottom; and an inclination sensor (203) is fixedly mounted on the bottom of the cone seat (202); A radar assembly (4) is fixedly mounted on the top of the cone seat (202); A mounting plate (5) is fixedly mounted on the top of the mounting frame (1), and four level gauges (501) are fixedly mounted at equal intervals on the top of the mounting plate (5); A controller (3) is fixedly mounted on the top of the mounting plate (5), a mounting box (301) is fixedly mounted on the top of the controller (3), a mounting seat (302) is fixedly mounted on the top of the mounting box (301), and a calibration ring (303) is fixedly mounted on the top of the mounting seat (302), the calibration ring (303) can contact the side wall of the cone seat (202), so that the cone seat (202) can be clamped inside the calibration ring (303) after vertically descending, and the pneumatic telescopic rod (201) is controlled to be fine-tuned through the detection data of the inclination sensor (203), so as to initialize the telescopic length of the pneumatic telescopic rod (201), so as to calibrate the cone seat (202).

2. The vehicle-mounted laser radar three-dimensional attitude compensation device according to claim 1, characterized in that: The radar assembly (4) comprises a laser radar (405), a base (401) is fixedly mounted on the bottom of the laser radar (405), and the base (401) is connected to the top of the cone seat (202) via bolts; A top cover (403) is fixedly installed on the top of the laser radar (405), and the top cover (403) is a cone-shaped structure, and a plurality of groups of guide vanes (402) are fixedly installed at equal intervals on the top of the top cover (403), and three arc-shaped mounting rods (404) are fixedly installed on the side of the top cover (403), and fan blades (406) are rotatably installed on the outer side of the mounting rods (404).

3. The vehicle-mounted laser radar three-dimensional attitude compensation device according to claim 1, characterized in that: Wiring sockets are arranged at equal intervals on the side of the controller (3), and the wiring sockets are electrically connected to the pneumatic telescopic rod (201), the tilt sensor (203), the laser radar (405) and the level (501) respectively through wires.

4. The vehicle-mounted laser radar three-dimensional attitude compensation device according to claim 1, characterized in that: Grooves are provided on both sides of the slide rail (101), and the grooves are engaged with the raised parts on the inner side of the slider (102); mounting holes are provided at equal intervals on the top of the slide rail (101), and the mounting holes are engaged with two bolts on the top of the slider (102).

5. The vehicle-mounted laser radar three-dimensional attitude compensation device according to claim 1, characterized in that: A polarizing lens is fixedly installed on the front of the laser radar (405), and a double-layer waterproof adhesive strip is fixedly installed between the polarizing lens and the detection port of the laser radar (405).

6. The vehicle-mounted laser radar three-dimensional attitude compensation device according to claim 1, characterized in that: Ball head covers are fixedly mounted on both ends of the pneumatic telescopic rod (201), and the ball head covers are composed of two hollow hemispherical covers.

7. The vehicle-mounted laser radar three-dimensional attitude compensation device according to claim 1, characterized in that: A plurality of ball heads are welded to the top of the mounting ring (2), and the ball heads are respectively connected to the ball head covers at the bottom ends of a plurality of pneumatic telescopic rods (201).

8. The vehicle-mounted laser radar three-dimensional posture compensation device according to claim 1, characterized in that: A plurality of ball heads are arranged on the side of the cone seat (202), and the ball heads on the side of the cone seat (202) are respectively connected to the ball head covers at the top ends of the plurality of pneumatic telescopic rods (201).

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