Vehicle-mounted mobile laser radar surveying and mapping device

Abstract

The embodiment of the invention provides a vehicle-mounted mobile laser radar surveying and mapping device, and relates to the technical field of vehicle-mounted radar surveying and mapping. A vehicle-mounted mobile laser radar surveying and mapping device comprises a base, the top of the base is rotationally connected with a bottom frame, air cylinder barrels are diagonally embedded in the two sides of an inner cavity of the bottom frame, a mounting base is arranged at the top of the bottom frame, a balance sensor and an angle sensor are diagonally embedded in the mounting base, and a framework is fixedly connected to the top of the mounting base; the top of the framework is fixedly connected with a scanner, and one side of the framework is fixedly connected with a radar surveying and mapping head; buffering assemblies used for being stably matched with the framework are arranged on the periphery of the base and the periphery of the mounting base, each buffering assembly comprises a universal ball seat fixed between the bottom frame and the mounting base, and upper universal hinge joints are embedded in the periphery of the mounting base. A mode of combining pneumatic buffering and pneumatic fine tuning is adopted, so that the radar can realize rapid, stable and accurate surveying and mapping effects.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle-mounted radar mapping, and particularly relates to a vehicle-mounted mobile lidar mapping device. Background Art

[0002] Vehicle-mounted mobile lidar mapping technology integrates lidar, high-precision positioning and navigation systems, and multi-sensor fusion to achieve efficient and high-precision three-dimensional geographic information collection. It is mainly used for the all-element collection of highways and urban roads, including markings, lamp posts, traffic signs, etc., supports maintenance decision-making and high-precision map updating, and can also quickly construct three-dimensional models of buildings, underground mine roads, etc. by vehicle-mounted scanning, adapting to different weather conditions, and its flexibility is better than aerial mapping.

[0003] In the prior art (a patent application with the publication number CN216351234U and the patent name of a lidar mapping device), the lidar mapping device is initially buffer-shock-absorbed by the action of the first spring. The T-shaped seat can be buffer-treated on the fixed column through the buffer action of the second spring, and the mounting table is buffer-shock-absorbed by the rubber roller, which fully improves the shock-absorbing performance of the lidar mapping device during vehicle-mounted movement. In the process of implementing this technical solution, it is found that at least the following problems exist in the prior art:

[0004] During the mapping of roads by means of vehicle-mounted mobile lidar, the radar mapping device is basically buffer-mounted by the fixing method of a single spring to offset the inertial force during vehicle driving, which cannot meet the requirements of quick stability, and still has slight tremors, resulting in unstable radar mapping and low quality, and requires repeated mapping, which is not worth the loss. Summary of the Invention

[0005] This application aims to at least solve one of the technical problems in the prior art that the radar cannot achieve quick stability and precise mapping effects by combining pneumatic buffering and pneumatic fine-tuning, resulting in unstable radar mapping, low quality, and the need for repeated mapping, which is not worth the loss. For this reason, this application proposes a vehicle-mounted mobile lidar mapping device.

[0006] To achieve the above object, the specific technical solution of the present invention is as follows:

[0007] A vehicle-mounted mobile lidar mapping device includes a base. The top of the base is rotatably connected to a chassis, and both sides of the inner cavity of the chassis are diagonally embedded with cylinder barrels. The top of the chassis is provided with a mounting seat, and a balance sensor and an angle sensor are diagonally embedded on the mounting seat. The top of the mounting seat is fixedly connected to a framework, and the top of the framework is fixedly connected to a scanner. One side of the framework is fixedly connected to a radar mapping head;

[0008] Moreover, buffer components for stable cooperation of the framework are provided around both the base and the mounting seat. The buffer components include universal ball seats fixed between the chassis and the mounting seat, and thousands of universal hinge joints are embedded around the mounting seat. The bottom of the thousands of universal hinge joints is fixedly connected with connecting arms, and the bottom of the connecting arms is fixedly connected with T-shaped sliding rods. The outer sides of the T-shaped sliding rods are slidably connected with sealing cylinders;

[0009] On one side of the inner cavity of the chassis, a servo motor for driving the work component is embedded. The output shaft of the servo motor is fixedly connected with a driving bevel gear. A driven bevel gear is arranged outside the driving bevel gear. Supply components for cooperating with the buffer components are provided around the work component. The supply components include three-way valves communicated with the cylinder barrels. The air inlets of the three-way valves are communicated with air inlet heads, and the exhaust ports are communicated with exhaust heads.

[0010] Preferably: The buffer components further include buffer springs sleeved on the T-shaped sliding rods. The outer ends of the buffer springs are respectively fixed with the sliding ends of the T-shaped sliding rods and the inner cavities of the sealing cylinders. Damping springs for cooperating with the T-shaped sliding rods are sleeved outside the connecting arms and the sealing cylinders.

[0011] Preferably: The work component further includes a first electric push rod fixed outside the driven bevel gear. A cam is fixedly connected to the outside of the first electric push rod. One side of the cam is hinged with a connecting rod, and the other end of the connecting rod is hinged with a piston slidably matched with the cylinder barrel.

[0012] Preferably: The supply components further include a temporary storage tank communicated with the exhaust heads and embedded in the chassis. The outer end of the temporary storage tank is communicated with a manifold. The bottom end of the manifold is communicated with a supply pipe, and the bottom end of the supply pipe is communicated with a boosting head fixedly matched with the sealing cylinder.

[0013] Preferably: A boosting cavity slidably matched with the T-shaped sliding rod is opened at the bottom of the inner cavity of the sealing cylinder, and the boosting cavity is in communication with the boosting head.

[0014] Preferably: Limit discs fixedly matched with the damping springs are fixedly connected to the outside of both the connecting arms and the sealing cylinders, and a telescopic sleeve for protecting the damping springs is sleeved between the limit discs.

[0015] Preferably: A lower universal hinge joint is fixedly connected to the bottom of the boosting head, and the boosting head and the lower universal hinge joint are not in communication.

[0016] Preferably: An annular slide rail is opened on the outside of the chassis, and an annular slide frame fixedly matched with the lower universal hinge joint is slidably connected in the annular slide rail.

[0017] Preferably, a pressure relief pipe is connected to the top end of the manifold, and a pressure relief valve is provided on the pressure relief pipe. The bottom of the base is fixedly connected with a mounting member that is fixedly matched with the roof luggage rack.

[0018] Preferably, a single-chip microcomputer is fixedly connected to one side of the frame close to the scanner, and a snap-on battery is clamped to the side of the frame away from the radar mapping head.

[0019] A vehicle-mounted mobile lidar mapping device of the present invention has the following advantages:

[0020] 1. For this vehicle-mounted mobile lidar mapping device, during the vehicle's driving, first, the universal ball seat plays a role of universal hinge between the frame and its components through the mounting seat and the chassis, facilitating the fine adjustment of the frame and its components subsequently. At the same time, four upper universal hinge heads, connecting arms, T-shaped sliding rods, and sealing cylinders provide four-way stable support measures for the frame and its components, and four buffer springs and damping springs play a role of quickly stabilizing and effectively filtering vibrations for the frame and its components. After being subjected to inertial forces, it quickly returns to a stable state to perform lidar mapping operations on the road, improving the accuracy of road mapping.

[0021] 2. For this vehicle-mounted mobile lidar mapping device, meanwhile, after the meshing stroke between the driving bevel gear and the two groups of driven bevel gears is adjusted in place by two first electric push rods, the servo motor drives two groups of cams, connecting rods, and pistons to reciprocate in two groups of cylinder barrels through the meshing driving bevel gear and the two groups of driven bevel gears in place, generating two paths of pressurized air sources to provide subsequent pneumatic buffer compensation for the stable measures of the frame and its components;

[0022] Immediately afterwards, the two paths of pressurized air sources generated in the two groups of cylinder barrels are fed into the two groups of temporary storage tanks through the exhaust heads on the two groups of three-way valves, and then the supply pipes on the four manifolds are fed into the pressurized chambers in the four sealing cylinders through the four pressurizing heads, playing a pneumatic buffering role for the T-shaped sliding rods guided by inertial forces in the four sealing cylinders, pneumatically offsetting the inertial forces acting on them, so as to prevent the frame and its components from experiencing a series of micro-vibrations, forcing the frame and its components to quickly return to stability, and performing mapping operations on the road in an effectively stable posture.

[0023] 3. For this vehicle-mounted mobile lidar mapping device, then, with the pressure relief and exhaust cooperation of the four pressure relief pipes and the elastic reset cooperation of the four buffer springs and damping springs, the sliding stroke height of the four T-shaped sliding rods in the four sealing cylinders is controlled, so as to tilt and finely adjust the angle and orientation according to the current mapping requirements of the frame and its components, and perform precise mapping operations on the road by means of variable fine adjustment. Description of the Drawings

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0025] Figure 1 It is the initial state diagram of the structure of a vehicle-mounted mobile lidar surveying and mapping device of the present invention;

[0026] Figure 2 It is the fine-tuning state diagram of the structure of a vehicle-mounted mobile lidar surveying and mapping device of the present invention;

[0027] Figure 3 It is the position-changing state diagram of the structure of a vehicle-mounted mobile lidar surveying and mapping device of the present invention;

[0028] Figure 4 It is the partial cross-sectional view of the structure of a vehicle-mounted mobile lidar surveying and mapping device of the present invention;

[0029] Figure 5 It is the partial internal view of the structure of a vehicle-mounted mobile lidar surveying and mapping device of the present invention;

[0030] Figure 6 It is the bottom view of the structure of the cylinder barrel, buffer assembly, working assembly and supply assembly of the present invention;

[0031] Figure 7 It is the front view of the structure of the mounting seat and buffer assembly of the present invention;

[0032] Figure 8 It is the bottom view of the structure of the mounting seat and buffer assembly of the present invention;

[0033] Figure 9 It is the partial side view of the structure of the buffer assembly of the present invention;

[0034] Figure 10 It is the partial sectional view of the structure of the buffer assembly of the present invention;

[0035] Figure 11 It is the bottom sectional view of the structure of the cylinder barrel, working assembly and supply assembly of the present invention;

[0036] Figure 12 It is the top sectional view of the structure of the cylinder barrel and working assembly of the present invention;

[0037] Figure 13 It is the initial state side sectional view of the structure of the base, chassis, frame and position-changing assembly of the present invention;

[0038] Figure 14It is a bottom-up cross-sectional view of the base, the base frame, the frame and the transposition assembly structure of the present invention in the transposition state;

[0039] Figure 15 It is a top view of the initial state of the transposition assembly structure of the present invention;

[0040] Figure 16 It is a side view of the transposition assembly structure of the present invention in the transposition state;

[0041] Figure 17 It is a partial side view of the servo motor, driving bevel gear and transposition assembly structure of the present invention;

[0042] Figure 18 It is a partial exploded view of the base, base frame and transposition assembly structure of the present invention.

[0043] Explanation of the markings in the figure: 1. Base; 2. Underframe; 3. Cylinder; 4. Mounting seat; 5. Frame; 6. Scanner; 7. Radar mapping head; 81. Universal ball seat; 82. Upper universal hinge joint; 83. Connecting arm; 84. T-shaped slide bar; 85. Sealing cylinder; 86. Buffer spring; 87. Damping spring; 91. Servo motor; 92. Driving bevel gear; 93. Driven bevel gear; 94. First electric push rod; 95. Cam; 96. Connecting rod; 97. Piston; 101. Three-way valve; 102. Exhaust Gas head; 103, temporary storage tank; 104, manifold; 105, supply pipe; 106, boost head; 107, boost chamber; 111, annular guide rail; 112, connecting cam; 113, teeth; 114, differential bevel gear; 115, second electric push rod; 116, transfer circular gear; 117, planetary circular gear; 12, telescopic sleeve; 13, lower universal joint; 14, annular slide rail; 15, annular slide; 16, pressure relief pipe; 17, mounting parts; 18, single-chip microcomputer; 19, snap-on battery. DETAILED DESCRIPTION

[0044] The present invention is specifically described below in conjunction with the accompanying drawings and specific embodiments:

[0045] like Figures 1 - 18As shown in the figure, a vehicle-mounted mobile lidar mapping device of the present invention includes a base 1. The bottom of the base 1 is fixedly connected with a mounting member 17 that is fixedly matched with the roof luggage rack, facilitating the fixation of the base 1 on the roof luggage rack. The top of the base 1 is rotatably connected with a chassis 2, and the two sides of the inner cavity of the chassis 2 are diagonally embedded with cylinder barrels 3. The top of the chassis 2 is provided with a mounting seat 4, and a balance sensor and an angle sensor are diagonally embedded on the mounting seat 4. The top of the mounting seat 4 is fixedly connected with a framework 5, and the top of the framework 5 is fixedly connected with a scanner 6. One side of the framework 5 is fixedly connected with a radar mapping head 7. One side of the framework 5 close to the scanner 6 is fixedly connected with a single-chip microcomputer 18 to process the data of the mapping scan, and a snap-on battery 19 is clamped on the side of the framework 5 away from the radar mapping head 7 to provide backup power supply for the electrical components;

[0046] Moreover, buffer components for the stable cooperation of the framework 5 are provided around the base 1 and the mounting seat 4. The buffer components include a universal ball seat 81 fixed between the chassis 2 and the mounting seat 4. The universal ball seat 81 plays a role of universal hinge for the framework 5 and its components between the mounting seat 4 and the chassis 2 through the mounting seat 4, facilitating the fine adjustment of the framework 5 and its components subsequently. Upper universal hinge heads 82 are embedded around the mounting seat 4. The bottom of the upper universal hinge heads 82 is fixedly connected with a connecting arm 83, and the bottom of the connecting arm 83 is fixedly connected with a T-shaped sliding rod 84. The outer side of the T-shaped sliding rod 84 is slidably connected with a sealing cylinder 85. The four groups of upper universal hinge heads 82, connecting arms 83, T-shaped sliding rods 84 and sealing cylinders 85 provide four-way stable support measures for the framework 5 and its components;

[0047] One side of the inner cavity of the chassis 2 is embedded with a servo motor 91 for driving the working component, and the output shaft of the servo motor 91 is fixedly connected with a driving bevel gear 92. A driven bevel gear 93 is arranged outside the driving bevel gear 92. Two first electric push rods 94 are used to adjust the meshing stroke between the driving bevel gear 92 and the two groups of driven bevel gears 93 in place. Moreover, supply components for matching with the buffer components are provided around the working component. The supply components include a three-way valve 101 communicated with the cylinder barrel 3. The air inlet of the three-way valve 101 is communicated with an air inlet head, and the exhaust port is communicated with an exhaust head 102 to pneumatically offset the inertial force on the framework 5, so as to prevent the framework 5 and its components from generating a series of micro-vibrations, forcing the framework 5 and its components to quickly return to stability, and performing mapping operations on the road in an effective and stable posture. It can also control the sliding stroke height of the four T-shaped sliding rods 84 in the four groups of sealing cylinders 85, so as to tilt and finely adjust the angle and azimuth according to the current mapping requirements of the framework 5 and its components, and perform precise mapping operations on the road by means of variable fine adjustment.

[0048] Such as Figures 6 - 12As shown, the buffer assembly further includes a buffer spring 86 sleeved on the T-shaped slide bar 84. The outer ends of the buffer spring 86 are respectively fixed to the sliding end of the T-shaped slide bar 84 and the inner cavity of the sealing cylinder 85. A damping spring 87 used in cooperation with the T-shaped slide bar 84 is sleeved on the outer sides of the connecting arm 83 and the sealing cylinder 85. The four buffer springs 86 and the damping spring 87 play a role in quickly stabilizing and effectively filtering vibrations for the framework 5 and its components. After being subjected to inertial force, it can quickly return to a stable state to perform radar mapping operations on the road, improving the accuracy of road mapping; Limit disks fixedly matched with the damping spring 87 are fixedly connected to the outer sides of the connecting arm 83 and the sealing cylinder 85, and a telescopic sleeve 12 for protective cooperation with the damping spring 87 is sleeved between the limit disks, providing peripheral protection for the damping spring 87 and playing a role in dust and water prevention.

[0049] The work component further includes a first electric push rod 94 fixed on the outer side of the driven bevel gear 93. A cam 95 is fixedly connected to the outer side of the first electric push rod 94. One side of the cam 95 is hinged with a connecting rod 96, and the other end of the connecting rod 96 is hinged with a piston 97 slidably matched with the cylinder barrel 3. The servo motor 91 drives two groups of cams 95, connecting rods 96 and pistons 97 to reciprocate in the two groups of cylinder barrels 3 through the engaged driving bevel gear 92 and two groups of driven bevel gears 93, generating two-way pressurized air sources to provide subsequent pneumatic buffer compensation for the stability measures of the framework 5 and its components;

[0050] The supply component further includes a temporary storage tank 103 connected to the exhaust head 102 and embedded in the chassis 2. The outer end of the temporary storage tank 103 is communicated with a manifold 104. The bottom end of the manifold 104 is communicated with a supply pipe 105, and the bottom end of the supply pipe 105 is communicated with a pressurizing head 106 fixedly matched with the sealing cylinder 85; A lower universal hinge joint 13 is fixedly connected to the bottom of the pressurizing head 106, and the pressurizing head 106 and the lower universal hinge joint 13 are in a non-interconnected state, playing an auxiliary supporting role for the pressurizing head 106 and the sealing cylinder 85 to ensure the overall support stability of the sealing cylinder 85. An annular slide rail 14 is opened on the outer side of the chassis 2, and an annular slide frame 15 fixedly matched with the lower universal hinge joint 13 is slidably connected in the annular slide rail 14. When rotating and displacing the framework 5 and its components, the lower universal hinge joint 13 rotates along with the sealing cylinder 85;

[0051] At the bottom of the inner cavity of the sealing cylinder 85, a pressurizing chamber 107 that slidably cooperates with the T-shaped slide bar 84 is provided, and the pressurizing chamber 107 and the pressurizing head 106 are in a communicating state, facilitating the pressurized gas source in the manifold 104 to be supplied into the pressurizing chamber 107 in the sealing cylinder 85 through the pressurizing head 106, performing pneumatic buffering or fine adjustment of jacking on the T-shaped slide bar 84. The top end of the manifold 104 is connected to a pressure relief pipe 16, and a pressure relief valve is provided on the pressure relief pipe 16 to perform pressure relief and exhaust treatment on the pressurized gas source entering the pressurizing chamber 107, facilitating the downward adjustment of the T-shaped slide bar 84 in the sealing cylinder 85. The two-way pressurized gas sources generated in the two cylinder barrels 3 are supplied into the two temporary storage tanks 103 through the exhaust heads 102 on the two three-way valves 101, and then are supplied into the pressurizing chambers 107 in the four sealing cylinders 85 through the supply pipes 105 on the four manifolds 104, playing a pneumatic buffering role on the T-shaped slide bars 84 guided by inertial forces in the four sealing cylinders 85, pneumatically offsetting the inertial forces acting on them, so as to prevent the frame 5 and the components thereon from undergoing a series of micro-vibrations, forcing the frame 5 and the components thereon to quickly return to stability, and performing road mapping operations in an effective and stable posture;

[0052] When fine adjustment needs to be performed on the frame 5 and the components thereon, with the pressure relief and exhaust cooperation of the four pressure relief pipes 16 and the reset elastic reset cooperation of the four buffer springs 86 and damping springs 87, the sliding stroke height of the four T-shaped slide bars 84 in the four sealing cylinders 85 is controlled, so as to tilt and finely adjust the angle and orientation according to the current mapping requirements of the frame 5 and the components thereon, and perform precise road mapping operations by means of variable fine adjustment.

[0053] Such as Figures 13 - 18As shown in the figure, during the radar mapping of the road, according to different required mapping positions, it is necessary to frequently switch different angles for mapping scans. Generally, the vehicle drives the radar mapping device to change positions, which has low flexibility and cumbersome operation. A position-changing component used in conjunction with the base 1 is provided inside the chassis 2. The position-changing component includes an annular guide rail 111 opened at the bottom of the chassis 2. An engaging convex frame 112 fixedly fitted with the base 1 is rotatably connected inside the annular guide rail 111. The annular guide rail 111 and the engaging convex frame 112 play a role in rotatably supporting between the chassis 2 and the base 1, improving the rotational position-changing stability of the chassis 2 and its overall components. And teeth 113 are fixedly arranged on the inner wall circumference of the engaging convex frame 112. A second electric push rod 115 is rotatably connected at the center of the inner cavity of the chassis 2. A differential bevel gear 114 meshing with the driving bevel gear 92 is fixedly connected to the second electric push rod 115. A transfer circular gear 116 penetrating and fitted with the base 1 is fixedly connected to the bottom of the second electric push rod 115. And a planetary circular gear 117 rotatably fitted with the base 1 is rotatably connected to the teeth 113 and is distributed in an equilateral triangle state. First, after the second electric push rod 115 adjusts the meshing stroke between the transfer circular gear 116 and the three planetary circular gears 117 in place, since the teeth 113 are fixedly arranged in the engaging convex frame 112 fixed to the immovable base 1, the servo motor 91 drives the transfer circular gear 116 to rotate inside the three planetary circular gears 117 through the driving bevel gear 92 and the differential bevel gear 114. Since the teeth 113 are in an immovable state, the rotating transfer circular gear 116 drives the chassis 2 and its whole to perform a rotational position-changing operation, meeting the radar mapping requirements in different directions, and further improving the accuracy and comprehensiveness of road radar mapping.

[0054] Working principle of a vehicle-mounted mobile lidar mapping device: First, after the base 1 is fixed on the luggage rack on the top of the vehicle through the mounting member 17, under the action of the inertial force generated during the vehicle's driving, the base 1, the chassis 2 and its whole are forced to shake and tilt following the inertial force. At the same time, under the action of the inertial force, the T-shaped sliding rods 84 on the four connecting arms 83 driven by the tens of thousands of universal hinge joints 82 around the mounting seat 4 are forced to slide in the four sealing cylinders 85. And with the four groups of lower universal hinge joints 13 playing a hinged support and cooperation role at the bottom of the four sealing cylinders 85, the four buffer springs 86 perform elastic buffering on the sliding stroke of the four T-shaped sliding rods 84 in the sealing cylinders 85, and the four damping springs 87 perform damping buffering on the sliding stroke of the four T-shaped sliding rods 84 outside the sealing cylinders 85, and drive the four telescopic sleeves 12 to follow the telescopic action, making the components on the mounting seat 4 and its framework 5 buffer smoothly in four directions, and enabling the mounting seat 4 to quickly reach the reset initial state of the balance sensor;

[0055] Prior to this, first control the two first electric push rods 94 to start and drive the two sets of driven bevel gears 93 to synchronously move inward and engage with the meshing part of the driving bevel gear 92. Then, control the servo motor 91 to start and drive the two sets of driven bevel gears 93 to rotate through the engaged driving bevel gear 92. The two sets of driven bevel gears 93 drive the two sets of cams 95 to rotate accordingly. The two sets of cams 95 drive the pistons 97 on the two connecting rods 96 to reciprocate in the two cylinder barrels 3, and the pressurized air source generated in the two cylinder barrels 3 is supplied into the two temporary storage tanks 103 through the exhaust heads 102 on the two three-way valves 101 for temporary storage. After the two temporary storage tanks 103 are full, first control the servo motor 91 to pause, and then control the two first electric push rods 94 to close and drive the two sets of driven bevel gears 93 to synchronously move outward and disengage from the meshing part of the driving bevel gear 92 to the initial position. While the four T-shaped sliding rods 84 pre-stably buffer the frame 5 and its overall components on the mounting seat 4 in four directions by means of the four buffer springs 86 and damping springs 87, the two pressurized air sources temporarily stored in the two temporary storage tanks 103 are supplied into the four supply pipes 105 through the four manifolds 104, and then supplied into the pressurized chambers 107 in the four sealing cylinders 85 by the four pressurizing heads 106. Subsequently, with the rapid intervention of the pressurized air source, the four T-shaped sliding rods 84 under the action of inertial force are quickly pneumatically stopped in the four sealing cylinders 85, making the mounting seat 4 and the overall components on the frame 5 quickly stable;

[0056] When it is necessary to finely adjust the angle of the frame 5 and its components according to the requirements of the road surveying and mapping orientation and angle, control the flow rate of the pressurized air source supplied into the pressurized chambers 107 in the four sealing cylinders 85 by the four manifolds 104 through the four pressurizing heads 106, forcing the four T-shaped sliding rods 84 to slide upward in the four sealing cylinders 85 to lift, or correspondingly open the pressure relief valve on the fine adjustment orientation pressure relief pipe 16, forcing the pressurized air source in the sealing cylinder 85 in this orientation to be discharged through the pressure relief pipe 16 on the manifold 104. Correspondingly, under the elastic restoring force of the buffer spring 86 and damping spring 87, force the four T-shaped sliding rods 84 to slide downward in the four sealing cylinders 85, and with the universal ball seat 81 providing a universal hinge fit for the mounting seat 4 and the chassis 2, the correspondingly inflated and upward-sliding or deflated and downward-sliding T-shaped sliding rods 84 drive a corner of the mounting seat 4 and the components on the frame 5 to tilt at an angle through the upper universal hinge joint 82 on the connecting arm 83, and the T-shaped sliding rods 84 in the other angular orientations follow suit in the sealing cylinders 85 until the angles of the mounting seat 4 and the components on the frame 5 are finely adjusted to the best surveying and mapping state detected by the angle sensor;

[0057] When it is necessary to rotate and displace the framework 5 and the components thereon, first control the second electric push rod 115 to start and drive the middle transfer circular gear 116 to move down and engage with the meshing parts inside the three planetary circular gears 117. Then, control the servo motor 91 to restart and drive the differential bevel gear 114 to rotate through the driving bevel gear 92. The differential bevel gear 114 drives the three planetary circular gears 117 to rotate circumferentially on the teeth 113 inside the connecting convex frame 112 through the middle transfer circular gear 116 that is engaged in place on the second electric push rod 115. Since the teeth 113 on the connecting convex frame 112 are in a fixed state, the middle transfer circular gear 116 and the three planetary circular gears 117 rotate circumferentially around the teeth 113 on the connecting convex frame 112. With the annular guide rail 111 and the connecting convex frame 112 providing rotational support and cooperation for the base 1 and the chassis 2, the circumferentially linearly rotating middle transfer circular gear 116 and the three planetary circular gears 117 drive the framework 5 and its overall components to perform linear rotational displacement through the chassis 2 and the mounting seat 4, and drive the annular sliding frames 15 on the four lower universal hinge joints 13 to rotate accordingly within the annular sliding rails 14. Until the overall components on the framework 5 are linearly rotated in place, first control the servo motor 91 to turn off, then control the second electric push rod 115 to turn off and drive the middle transfer circular gear 116 to move up and disengage from the meshing parts inside the three planetary circular gears 117 to the initial state. First, the on-vehicle power supply provides power, and the snap-in battery 19 provides backup power supply. After driving the scanner 6, the radar mapping head 7, and the single-chip microcomputer 18 to perform angle fine-tuning and rotational displacement through the framework 5, the scanner 6 and the radar mapping head 7 perform radar mapping and scanning on the road, and then the information is processed by the single-chip microcomputer 18 and sent to the on-vehicle background.

[0058] It should be noted that the specific model specifications of the servo motor 91, the electric push rod, the scanner 6, the radar mapping head 7, the single-chip microcomputer 18, and the snap-in battery 19 need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be elaborated in detail.

[0059] The power supply circuits of the servo motor 91, the electric push rod, the scanner 6, the radar mapping head 7, the single-chip microcomputer 18, the snap-in battery 19, and various valves are clear to those skilled in the art and will not be elaborated in detail here.

[0060] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. In addition, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A vehicle-mounted mobile laser radar mapping device, comprising a base (1), characterized in that: The top of the base (1) is rotatably connected to a base frame (2), and cylinder barrels (3) are diagonally embedded on both sides of the inner cavity of the base frame (2), a mounting seat (4) is provided on the top of the base frame (2), and a balance sensor and an angle sensor are diagonally embedded on the mounting seat (4), the top of the mounting seat (4) is fixedly connected to a frame (5), and the top of the frame (5) is fixedly connected to a scanner (6), and one side of the frame (5) is fixedly connected to a radar mapping head (7); The base (1) and the mounting seat (4) are provided with a buffer assembly for stable cooperation with the frame (5) on all sides, the buffer assembly comprising a universal ball seat (81) fixed between the base frame (2) and the mounting seat (4), and an upper universal hinge joint (82) is embedded on all sides of the mounting seat (4), the bottom of the upper universal hinge joint (82) is fixedly connected to a connecting arm (83), and the bottom of the connecting arm (83) is fixedly connected to a T-shaped sliding rod (84), and the outer side of the T-shaped sliding rod (84) is slidably connected to a sealing cylinder (85); A servo motor (91) for driving the working component is embedded in one side of the inner cavity of the base frame (2), and the output shaft of the servo motor (91) is fixedly connected to a driving bevel gear (92), and a driven bevel gear (93) is arranged on the outer side of the driving bevel gear (92), and supply components for use with the buffer component are arranged around the working component, and the supply component includes a three-way valve (101) connected to the cylinder barrel (3), and the air inlet of the three-way valve (101) is connected to an air inlet head, and the air outlet is connected to an exhaust head (102).

2. The vehicle-mounted mobile laser radar mapping device according to claim 1, characterized in that: The buffer assembly also includes a buffer spring (86) sleeved on the T-shaped slide bar (84), and the outer end of the buffer spring (86) is respectively fixed to the sliding end of the T-shaped slide bar (84) and the inner cavity of the sealing cylinder (85), and the outer sides of the connecting arm (83) and the sealing cylinder (85) are sleeved with a damping spring (87) used in conjunction with the T-shaped slide bar (84).

3. The vehicle-mounted mobile laser radar mapping device according to claim 2, characterized in that: The working assembly also includes a first electric push rod (94) fixed on the outside of the driven bevel gear (93), and a cam (95) is fixedly connected to the outside of the first electric push rod (94), a connecting rod (96) is hinged on one side of the cam (95), and a piston (97) that is slidably matched with the cylinder barrel (3) is hinged on the other end of the connecting rod (96).

4. The vehicle-mounted mobile laser radar mapping device according to claim 3, characterized in that: The supply assembly also includes a temporary storage tank (103) connected to the exhaust head (102) and embedded in the base frame (2), and the outer end of the temporary storage tank (103) is connected to a manifold (104), the bottom end of the manifold (104) is connected to a supply pipe (105), and the bottom end of the supply pipe (105) is connected to a booster head (106) fixedly matched with the sealing cylinder (85).

5. The vehicle-mounted mobile laser radar mapping device according to claim 4, characterized in that: A boosting chamber (107) which is slidably matched with the T-shaped sliding rod (84) is provided at the bottom of the inner chamber of the sealing cylinder (85), and the boosting chamber (107) and the boosting head (106) are in a communicating state.

6. The vehicle-mounted mobile laser radar mapping device according to claim 5, characterized in that: The outer sides of the connecting arm (83) and the sealing cylinder (85) are fixedly connected with a limit plate fixedly matched with the damping spring (87), and a telescopic sleeve (12) protectively matched with the damping spring (87) is sleeved between the limit plates.

7. The vehicle-mounted mobile laser radar mapping device according to claim 6, characterized in that: The bottom of the booster head (106) is fixedly connected to a lower universal hinge joint (13), and the booster head (106) and the lower universal hinge joint (13) are in a non-interconnected state.

8. The vehicle-mounted mobile laser radar mapping device according to claim 7, characterized in that: An annular slide rail (14) is provided on the outer side of the base frame (2), and an annular slide rail (15) fixedly matched with the lower universal hinge joint (13) is slidably connected inside the annular slide rail (14).

9. The vehicle-mounted mobile laser radar mapping device according to claim 8, characterized in that: The top end of the manifold (104) is connected to a pressure relief pipe (16), and a pressure relief valve is arranged on the pressure relief pipe (16). The bottom of the base (1) is fixedly connected to a mounting member (17) that is fixedly matched with the roof luggage rack.

10. The vehicle-mounted mobile laser radar mapping device according to claim 9, characterized in that: A single-chip computer (18) is fixedly connected to a side of the skeleton (5) close to the scanner (6), and a snap-on storage battery (19) is snap-connected to a side of the skeleton (5) away from the radar mapping head (7).

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