Self-driving automobile laser radar mechanism for traffic scene acquisition and automobile

Abstract

The invention discloses an automatic driving automobile laser radar mechanism for traffic scene acquisition and an automobile, the automatic driving automobile laser radar mechanism comprises a glass protective cover, the inner side of the glass protective cover is fixedly provided with a U-shaped frame facing the glass protective cover, and the two sides of the U-shaped frame are provided with sliding mechanisms horizontally facing the glass protective cover. A radar cover with an opening in the front end is movably mounted on the inner side of the U-shaped frame through a sliding mechanism, a radar body is arranged in the radar cover, an anti-collision mechanism is arranged at the top of the radar cover, and the anti-collision mechanism comprises an anti-collision shell covering the opening in the front end of the radar cover; the top of the anti-collision shell is rotatably connected to the radome through a rotating shaft. Through the sliding mechanism, the radar body can be conveniently stretched out and drawn back, direct damage to the radar body caused by collision is avoided, meanwhile, through the anti-collision shell, the anti-collision capability of the radar body is effectively improved, a traffic scene acquisition environment is efficiently adapted, and use is convenient.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to an automatic driving vehicle laser radar mechanism and a vehicle for collecting traffic scenes. Background Art

[0002] Vehicle-mounted LiDAR is a high-precision sensor designed specifically for driving cars. It accurately measures the distance, speed, direction, shape and position of objects between the vehicle and the surrounding environment by emitting laser pulses and receiving signals reflected from surrounding objects. This technology provides autonomous vehicles with vital three-dimensional environmental perception capabilities, enabling them to accurately identify roads, vehicles, pedestrians, obstacles, etc. in real time, so as to make correct driving decisions. Vehicle-mounted LiDAR has the advantages of high precision, high resolution, and strong anti-interference ability, providing strong guarantees for the safe driving of autonomous vehicles. At the same time, with the continuous advancement of technology and the gradual reduction of costs, the application scope of vehicle-mounted LiDAR is also expanding, and it is expected to play a more important role in the fields of intelligent transportation and smart cities in the future. In short, vehicle-mounted LiDAR is one of the important sensors that are indispensable for autonomous vehicles.

[0003] Vehicle driving requires the use of on-board laser radar to detect driving status. Existing on-board laser radars have the following problems when in use: most laser radars are fixedly installed on the front of the vehicle at a fixed angle, and the laser radar is only protected by external protective glass. Once the glass breaks in the event of a collision, it is very easy to cause damage to the internal radar body, resulting in economic losses.

[0004] Therefore, personnel in this technical field provide an autonomous driving car lidar mechanism with adaptive effects for traffic scene acquisition to solve the problems mentioned in the above background technology. Summary of the invention

[0005] The present invention provides an autonomous driving car laser radar mechanism for traffic scene acquisition, which solves the problems raised by the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: A laser radar mechanism for an autonomous driving vehicle used for collecting traffic scenes, comprising a glass protective cover, a U-shaped frame arranged toward the glass protective cover fixedly installed on the inner side of the glass protective cover, both sides of the U-shaped frame having sliding mechanisms arranged horizontally toward the glass protective cover, a radome with an open front end movably installed on the inner side of the U-shaped frame via the sliding mechanism, a radar body is arranged in the radome, an anti-collision mechanism is arranged on the top of the radome, the anti-collision mechanism comprises an anti-collision shell arranged at the front end opening of the radome, and the top of the anti-collision shell is rotatably connected to the radome via a rotating shaft.

[0007] Through the above technical solution, the radome is supported by a U-shaped frame, thereby supporting the internal radar body. At the same time, the glass protective cover provides the outermost protection for the radar body, and the anti-collision shell provides secondary protection for the radar body, thereby making the radar body safer and more stable during use and improving its use efficiency.

[0008] Furthermore, the sliding mechanism includes a positioning plate fixedly mounted on the inner wall of the U-shaped frame, wherein two positioning plates are arranged side by side in an upper and lower manner, a cross plate is arranged between the two positioning plates, rotatable balls are arranged on both sides of the cross plate, and the cross plate can be slidably fitted between the two positioning plates through the balls, and the cross plate is fixed on the radar cover.

[0009] Through the above technical scheme, through the setting of the positioning plate, it is convenient to support the cross plate, thereby supporting the radar cover and the radar body. Through the setting of the ball, it is convenient for the cross plate to slide on the inner side of the positioning plate, and it is convenient to telescope and adjust the radar body, thereby preventing collision.

[0010] Furthermore, the bottom of the radar cover has a toothed plate arranged toward the glass protective cover, the toothed plate is meshed with a moving gear, a round rod is coaxially fixedly connected to the moving gear, both ends of the round rod are rotatably mounted on the U-shaped frame through bearing seats, and one end of the round rod is connected to a first motor.

[0011] Through the above technical solution, the first motor rotates to drive the round rod and the moving gear to rotate, so that the tooth plate moves, and drives the radar cover to move through the ball bearing, so that it can move inwards in dangerous moments to avoid collision.

[0012] Furthermore, the anti-collision mechanism includes two winding racks fixedly mounted on the top of the radar cover, and winding rods are rotatably provided on the two winding racks. A second motor is installed on one side of the winding rods, and a winding belt is wound on the winding rods, and the winding belt is connected to the anti-collision shell.

[0013] Through the above technical solution, the winding rod is supported by the winding frame, so that the winding rod can rotate stably, driving the winding belt to be wound, so that the anti-collision shell can rotate for protection.

[0014] Furthermore, the top of the radome has a first fixed frame and a second fixed frame arranged parallel to the winding frame, the second fixed frame is located between the winding frame and the first fixed frame, and its height is lower than that of the first fixed frame; the first fixed frame and the second fixed frame both include a rotatable clamping rod, and the clamping rod has a coaxially arranged clamping wheel; the winding belt sequentially passes around the clamping wheels on the second fixed frame and the first fixed frame, and is connected to the anti-collision shell.

[0015] Through the above technical solution, by setting the first fixed frame higher than the second fixed frame, the direction of rotation of the anti-collision shell is the same as the direction of the tension of the winding rope, which makes it easier for the winding belt to transmit force more efficiently when pulling the anti-collision shell. At the same time, by setting the clamping wheel, the stability of the movement of the winding rope is higher.

[0016] Furthermore, each of the clamping rods is provided with two clamping wheels, and the two clamping wheels are located at both ends of the corresponding clamping rods; two winding belts are wound on the winding rod, and the two winding belts respectively bypass the clamping wheels on the second fixing frame and the first fixing frame, and are connected to the anti-collision shell.

[0017] Furthermore, a guide tube is relatively slidably sleeved on the reel, and the guide tube is fixedly arranged on the radome via a positioning frame; the guide tube is arranged along the tangential direction of the abutting wheel and is close to the abutting wheel.

[0018] Through the above technical solution, the guide tube facilitates efficient movement of the reeling rope, improves the safety of the movement of the reeling rope, effectively prevents the reeling rope from escaping from the surface of the clamping wheel, and is convenient for users to use.

[0019] A car includes a vehicle body, and the front of the vehicle body is provided with the automatic driving car laser radar mechanism for traffic scene acquisition as described above.

[0020] The above solution of the present invention includes at least the following beneficial effects: 1. The present invention starts the first motor, and the rotation of the first motor drives the round rod to rotate, thereby driving the moving gear to rotate through the round rod, and then driving the radar cover to slide along the cross plate and the ball bearing on the inner side of the positioning plate through the tooth plate. When the glass protective cover is collided, it moves quickly to the inside, thereby reducing the probability of the radar body being collided, and effectively protecting the radar body.

[0021] 2. The present invention fixes the winding rod by means of a winding frame, and then starts the second motor. The rotation of the second motor drives the winding rod to rotate, thereby driving the winding belt to be wound. The guide tube is used to limit the position, thereby avoiding the problem of shaking of the winding belt. At the same time, the winding belt is fixed tightly by a clamping wheel to prevent the winding belt from loosening. The angle of the winding belt is adjusted by means of the first fixing frame and the second fixing frame, so that the winding belt can better pull the anti-collision shell to rotate upward around the top rotating shaft, thereby exposing the radar body. The second motor is rotated in the opposite direction, so that the anti-collision shell rotates downward to cover the radar cover, thereby protecting the radar body and improving the protection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the vehicle body structure of the present invention; Figure 2 It is a schematic diagram of the structure of the glass protective cover of the present invention; Figure 3 It is a schematic diagram of the structure of the radome of the present invention; Figure 4 The present invention Figure 3 The enlarged structural diagram at A in the middle; Figure 5 It is a schematic diagram of the tooth plate structure of the present invention; Figure 6 It is a schematic diagram of the structure of the radar body of the present invention; Figure 7 is a schematic diagram of the third motor structure of the present invention; Figure 8 It is a schematic diagram of the structure of the regulating gear of the present invention; Fig. 9 It is a schematic diagram of the telescopic sleeve structure of the present invention; Fig.10 It is a schematic diagram of the stable bearing structure of the present invention. DETAILED DESCRIPTION

[0023] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0024] When implementing it, Figures 1 to 10As shown, a car comprises a vehicle body 1, the front of the vehicle body 1 is provided with an automatic driving car laser radar mechanism for traffic scene collection, the automatic driving car laser radar mechanism comprises a glass protective cover 2, a U-shaped frame 3 arranged toward the glass protective cover is fixedly installed on the inner side of the glass protective cover 2, both sides of the U-shaped frame 3 have sliding mechanisms 4 arranged horizontally toward the glass protective cover 2, a radar cover 5 with an open front end is movably installed on the inner side of the U-shaped frame 3 through the sliding mechanism 4, a radar cover 6 is arranged inside the radar cover 5, an anti-collision mechanism 7 is arranged on the top of the radar cover 5, the anti-collision mechanism 7 comprises an anti-collision shell 711 arranged at the front end of the radar cover 5, and the top of the anti-collision shell 711 is rotatably connected to the radar cover 5 through a rotating shaft. The radar cover is supported by the U-shaped frame, thereby supporting the internal radar body, and the radar body is protected on the outermost side by the glass protective cover, and the anti-collision shell provides secondary protection to the radar body, so that the radar body is safer and more stable when in use, and the use efficiency is improved.

[0025] The sliding mechanism 4 includes a positioning plate 41 fixedly mounted on the inner wall of the U-shaped frame 3. Two positioning plates 41 are arranged side by side in the upper and lower parts. A transverse plate 42 is arranged between the two positioning plates 41. Rotatable balls 43 are arranged on both sides of the transverse plate 42. The transverse plate 42 can be slidably fitted between the two positioning plates 41 through the balls 43. The transverse plate 42 is fixed on the radome 5. The positioning plate is arranged to facilitate the support of the transverse plate, thereby supporting the radome and the radar body. The balls are arranged to facilitate the sliding of the transverse plate on the inner side of the positioning plate, so as to facilitate the telescopic adjustment of the radar body, thereby preventing collision.

[0026] The bottom of the radome 5 has a tooth plate 44 disposed toward the glass protective cover 2, the tooth plate 44 is meshed with a moving gear 45, a round rod 46 is coaxially fixedly connected to the moving gear 45, both ends of the round rod 46 are rotatably mounted on the U-shaped frame 3 through a bearing seat, and one end of the round rod 46 is connected to a first motor 47. The rotation of the first motor drives the round rod and the moving gear to rotate, so that the tooth plate moves, and the radome moves through the ball bearing, and can move inwards in dangerous moments to avoid collision.

[0027] The anti-collision mechanism 7 includes two reeling racks 71 fixedly mounted on the top of the radome 5, and reeling rods 72 are rotatably provided on the two reeling racks 71, and a second motor 73 is mounted on one side of the reeling rod 72. A reeling belt 74 is wound on the reeling rod 72, and the reeling belt 74 is connected to the anti-collision shell 711. The reeling rack supports the reeling rod, so that the reeling rod rotates stably, driving the reeling belt to reel, so that the anti-collision shell rotates for protection.

[0028] The top of the radome 5 has a first fixed frame 75 and a second fixed frame 76 arranged in parallel with the winding frame 71, the second fixed frame 76 is located between the winding frame 71 and the first fixed frame 75, and the height is lower than the first fixed frame 75; the first fixed frame 75 and the second fixed frame 76 both include a rotatable clamping rod 77, and the clamping rod 77 has a coaxially arranged clamping wheel 78; the winding belt 74 passes around the clamping wheels 78 on the second fixed frame 76 and the first fixed frame 75 in turn, and is connected to the anti-collision shell 711. By setting the first fixed frame higher than the second fixed frame, the direction of rotation of the anti-collision shell is the same as the direction of the tension of the winding rope, so that the force transmission of the winding belt when pulling the anti-collision shell is more efficient, and the setting of the clamping wheel makes the movement of the winding rope more stable.

[0029] Two abutting wheels 78 are provided on each of the abutting rods 77, and the two abutting wheels 78 are located at the two ends of the corresponding abutting rods 77; two winding belts 74 are wound on the winding rod 72, and the two winding belts 74 respectively pass around the abutting wheels 78 on the second fixing frame 76 and the first fixing frame 75, and are connected to the anti-collision shell 711. A guide tube 79 is relatively slidably sleeved on the winding belt 74, and the guide tube 79 is fixedly set on the radome 5 through a positioning frame 710; the guide tube 79 is set along the tangential direction of the abutting wheel 78 and is close to the abutting wheel 78. The guide tube facilitates the efficient operation of the winding rope, improves the safety of the movement of the winding rope, effectively prevents the winding rope from detaching from the surface of the abutting wheel, and is convenient for users to use.

[0030] In this embodiment, the radome 5 is provided with an adjustment mechanism 8 for driving the radar body 6 to rotate, the adjustment mechanism 8 comprises an anti-drift rod 81 vertically arranged in the radome 5, an adjustment arm 82 is rotatably mounted on the anti-drift rod 81, one end of the adjustment arm 82 has a vertically arranged support seat 9, and the other end has a fan-shaped gear 83 coaxially arranged with the anti-drift rod 81, the fan-shaped gear 83 is connected to a third motor 84 through a gear transmission structure; the radar body 6 is mounted on the support seat 9. In this way, the fan-shaped gear is driven to rotate around the anti-drift rod by the third motor, so that the adjustment arm drives the support seat to rotate, and the radar body is mounted on the support seat, thereby realizing the steering of the radar body.

[0031] A door-shaped bracket 85 is provided at the bottom of the radome 5, and a rotatable vertical shaft is vertically provided between the door-shaped bracket 85 and the bottom surface of the radome, and an adjusting gear 86 and a first bevel gear 87 are fixedly installed on the vertical shaft, and the adjusting gear 86 is meshed with the sector gear 83; the output shaft of the third motor 84 has a second bevel gear 88 meshed with the first bevel gear 87. Figure 8 As shown, Figure 8 The middle vertical axis and the gate-shaped bracket 85, the adjustment gear 86 and the first bevel gear 87 are displayed in an exploded structure. The bottom surface of the radome 5 has an arc groove 51 arranged concentrically with the anti-drift rod 81, and the bottom of the fan-shaped gear 83 has a stabilizing rod 89 arranged corresponding to the arc groove 51. The bottom of the stabilizing rod 89 is embedded with a ball, and the stabilizing rod 89 is movably engaged in the arc groove through the ball. The gate-shaped bracket is used to support and fix the vertical axis, which improves the stability of the vertical axis rotation. At the same time, the setting of the stabilizing rod and the ball makes it easy to fix the fan gear, so that the fan gear rotates along the arc groove at the bottom, which improves the efficiency of power transmission and is convenient for users.

[0032] The support seat 9 includes an outer sleeve 91 vertically arranged on the adjusting arm 82, and a coaxially arranged sliding rod 92 is provided in the middle part of the outer sleeve 91, and a first compression spring 93 is sleeved on the sliding rod 92; a lifting rod 94 is slidably sleeved in the outer sleeve 91, and a concentrically arranged sliding hole is provided in the lifting rod 94, and the sliding rod 92 is penetrated in the sliding hole; the upper end of the first compression spring 93 abuts against the bottom of the outer sleeve 91; the radar body 6 is fixedly mounted on the lifting rod 94.

[0033] The outer sleeve 91 is provided with a support plate 95 extending radially outward, and a plurality of the support plates 95 are evenly arranged along the circumference of the outer sleeve 91; a telescopic rod 96 is arranged between the outer end of the support plate 95 and the upper end of the lifting rod 94, and the two ends of the telescopic rod 96 are respectively hinged on the lifting rod 94 and the support plate 95. The telescopic rod 96 includes a telescopic sleeve 961 and a core rod 962, and the core rod 962 is axially slidably sleeved in the telescopic sleeve 961; the end of the core rod 962 away from the telescopic sleeve 961 has a stopper protruding radially, and the core rod 962 is sleeved with a second compression spring 963, and the two ends of the second compression spring 963 are respectively abutted on the telescopic sleeve 961 and the stopper. The first compression spring is compressed by the movement of the core rod inside the telescopic sleeve to achieve shock absorption, and the second compression spring is pressed by the contraction of the core rod inside the telescopic sleeve, thereby achieving efficient shock absorption and improving the use effect of the radar body when the vehicle shakes.

[0034] In order to increase the strength and stability of the support plate, the outer sleeve 91 has a support ring 97 protruding in the radial direction, and an inclined support rod is provided between the support ring 97 and the support plate 95. A moving plate 98 is fixedly provided at the bottom of the outer sleeve 91, and balls are evenly distributed at the bottom of the moving plate 98. The moving plate 98 is movably provided in the radome 5 through the balls. The provision of the moving plate and the balls facilitates the efficiency of the outer sleeve movement to be higher, and at the same time improves the stability of the angle adjustment of the radar body.

[0035] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A laser radar mechanism for an autonomous driving vehicle for collecting traffic scenes, characterized in that: The invention comprises a glass protective cover (2), wherein a U-shaped frame (3) arranged towards the glass protective cover is fixedly mounted on the inner side of the glass protective cover (2), and both sides of the U-shaped frame (3) are provided with sliding mechanisms (4) arranged horizontally towards the glass protective cover (2), and a radome (5) with an open front end is movably mounted on the inner side of the U-shaped frame (3) via the sliding mechanism (4), a radar body (6) is arranged in the radome (5), and an anti-collision mechanism (7) is arranged on the top of the radome (5), and the anti-collision mechanism (7) comprises an anti-collision shell (711) arranged at the open front end of the radome (5), and the top of the anti-collision shell (711) is rotatably connected to the radome (5) via a rotating shaft.

2. The automatic driving vehicle laser radar mechanism for traffic scene acquisition according to claim 1, characterized in that: The sliding mechanism (4) comprises a positioning plate (41) fixedly mounted on the inner wall of the U-shaped frame (3), two positioning plates (41) are arranged side by side in an upper and lower manner, a transverse plate (42) is arranged between the two positioning plates (41), rotatable balls (43) are arranged on both sides of the transverse plate (42), the transverse plate (42) can be slidably fitted between the two positioning plates (41) through the balls (43), and the transverse plate (42) is fixed on the radome (5).

3. The automatic driving vehicle laser radar mechanism for traffic scene acquisition according to claim 1, characterized in that: The bottom of the radome (5) has a toothed plate (44) arranged toward the glass protective cover (2), the toothed plate (44) is meshed with a moving gear (45), a round rod (46) is coaxially fixedly connected to the moving gear (45), both ends of the round rod (46) are rotatably mounted on the U-shaped frame (3) via a bearing seat, and one end of the round rod (46) is connected to a first motor (47).

4. The automatic driving vehicle laser radar mechanism for traffic scene acquisition according to claim 1, characterized in that: The anti-collision mechanism (7) comprises two reeling racks (71) fixedly mounted on the top of the radome (5), the two reeling racks (71) being rotatably provided with reeling rods (72), a second motor (73) being mounted on one side of the reeling rods (72), a reeling belt (74) being wound on the reeling rods (72), and the reeling belt (74) being connected to the anti-collision shell (711).

5. The automatic driving vehicle laser radar mechanism for traffic scene acquisition according to claim 4, characterized in that: The top of the radome (5) comprises a first fixing frame (75) and a second fixing frame (76) which are arranged in parallel with the winding frame (71); the second fixing frame (76) is located between the winding frame (71) and the first fixing frame (75) and is lower in height than the first fixing frame (75); the first fixing frame (75) and the second fixing frame (76) both comprise a rotatably arranged abutting rod (77); the abutting rod (77) comprises a coaxially arranged abutting wheel (78); the winding belt (74) sequentially passes around the abutting wheels (78) on the second fixing frame (76) and the first fixing frame (75) and is connected to the anti-collision shell (711).

6. The laser radar mechanism for autonomous driving vehicle for traffic scene acquisition as claimed in claim 5, characterized in that: Each of the clamping rods (77) is provided with two clamping wheels (78), and the two clamping wheels (78) are located at two ends of the corresponding clamping rod (77); two winding belts (74) are wound on the winding rod (72), and the two winding belts (74) respectively pass around the clamping wheels (78) on the second fixing frame (76) and the first fixing frame (75), and are connected to the anti-collision shell (711).

7. The automatic driving vehicle laser radar mechanism for traffic scene acquisition according to claim 5, characterized in that: A guide tube (79) is relatively slidably sleeved on the reel (74), and the guide tube (79) is fixedly arranged on the radome (5) via a positioning frame (710); the guide tube (79) is arranged along the tangential direction of the abutting wheel (78) and is close to the abutting wheel (78).

8. A car, comprising a vehicle body (1), characterized in that: The front of the vehicle body (1) is provided with an autonomous driving vehicle laser radar mechanism for traffic scene acquisition as claimed in any one of claims 1 to 7.

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