Vehicle obstacle detection device based on intelligent vision

Abstract

The invention relates to the technical field of obstacle detection, in particular to a vehicle obstacle detection device based on intelligent vision, and the device comprises an obstacle detection assembly which comprises a mounting plate seat, a first vision sensor, a first radar, a second vision sensor and a second radar; the fast assembly comprises a fixed connecting seat and a fast connecting clamping seat, and a data collecting and processing module and an electric drive adjusting mechanism are arranged in the fixed connecting seat and the fast connecting clamping seat respectively; and the controller comprises a box body, a processor, a gear handle detection unit and a vehicle speed detection unit. Therefore, the vehicle obstacle detection device is reasonable in structure, and the detection performance and safety of the vehicle obstacle detection device are remarkably improved by integrating the radar and visual sensor technology, innovating the design of the quick-mounting assembly, realizing the bottom detection capability, integrating the automatic switching function and other optimization measures; the innovations not only provide more comprehensive and accurate obstacle information for a driver, but also greatly enhance the safety and convenience in the use process of the vehicle, and the use effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle detection, and particularly to a vehicle obstacle detection device based on intelligent vision. Background Art

[0002] Most traditional vehicle obstacle detection devices rely on vision detection technology, that is, using image acquisition devices such as vision sensors to capture images of the vehicle's surrounding environment, and analyzing the obstacle information in the images through image processing algorithms.

[0003] However, the existing vision-based vehicle obstacle detection devices have several limitations. First, the vision detection means are relatively single, mainly relying on the extraction and analysis of image information, and may not be accurate and reliable enough for obstacle detection in complex environments or specific conditions. For example, in the case of insufficient light, serious occlusion, or complex obstacle shapes, the effect of vision detection may be greatly reduced.

[0004] Secondly, traditional vehicle obstacle detection devices are usually fixed inside the vehicle body during installation, with only a detection end face exposed. This installation method is not only inconvenient for the disassembly, assembly, and maintenance of the device, but also has great difficulties in adjusting the detection angle or range. Due to the fixed position of the detection device, its viewing angle and detection range are also correspondingly limited, and usually can only detect obstacles within a certain range around the vehicle.

[0005] More importantly, the existing detection devices often cannot effectively detect the bottom of the vehicle. The bottom of the vehicle is a hiding place for many potential safety hazards, such as animals, balls, damaged ground, etc., which may pose a threat to vehicle safety. However, due to the line-of-sight occlusion at the bottom of the vehicle and the limitation of the installation position of the detection device, traditional obstacle detection devices often cannot capture the obstacle information at the bottom, thus increasing the safety risk during vehicle use. Summary of the Invention

[0006] The present invention aims to solve at least one of the technical problems in the related art to some extent.

[0007] To this end, the object of the present invention is to provide a vehicle obstacle detection device based on intelligent vision. The structure of the present invention is reasonable. By integrating radar and vision sensor technologies, innovating the quick-installation component design, realizing the bottom detection ability, and incorporating the automatic switching function and other optimization measures, the detection performance and safety of the vehicle obstacle detection device are significantly improved. These innovations not only provide more comprehensive and accurate obstacle information for the driver, but also greatly enhance the safety and convenience during vehicle use, and the use effect is good.

[0008] To achieve the above object, the present invention provides a vehicle obstacle detection device based on intelligent vision, including: Obstacle detection component: It includes a mounting plate base, a first vision sensor, a first radar, a second vision sensor and a second radar. The first vision sensor and the first radar are arranged vertically on the surface of the mounting plate base, and the second vision sensor and the second radar are respectively arranged on the lower end surface of the mounting plate base; Quick installation component: It includes a fixed connection seat and a quick connection card seat. The fixed connection seats are respectively fixedly connected to the front end, rear end, left side and right side of the vehicle chassis. The quick connection card seat is snap-fitted and fixed inside the fixed connection seat and is electrically connected to the fixed connection seat. A data acquisition and processing module and an electric drive adjustment mechanism are respectively arranged inside the fixed connection seat and the quick connection card seat. The obstacle detection component is fixedly connected to the surface of the electric drive adjustment mechanism. The data acquisition and processing module is connected to the first vision sensor, the first radar, the second vision sensor and the second radar respectively through a serial cable; Controller: It includes a box body, a processor, a gear lever detection unit and a vehicle speed detection unit. The box body is arranged inside the vehicle's center console. The processor, the gear lever detection unit and the vehicle speed detection unit are sequentially arranged inside the box body. The gear lever detection unit is connected to the vehicle control host through a CAN bus, and is used to obtain the gear information of the vehicle in real time and transmit this information to the processor. The vehicle speed detection unit is used to measure the vehicle driving speed in real time and transmit this information to the processor. The processor is connected to the data acquisition and processing module and the electric drive adjustment mechanism respectively through a serial cable, and is used to change the working state of the obstacle detection component.

[0009] In addition, a vehicle obstacle detection device based on intelligent vision proposed according to the above application may also have the following additional technical features: Specifically, when the mounting plate base is in a horizontal state, it protrudes from the lower surface of the vehicle chassis. When the mounting plate base is in a vertical state, its surface is in the same plane as the outer surface of the vehicle chassis.

[0010] Specifically, the numbers of the first vision sensor and the first radar are respectively set to two groups. The viewing angles of one group of the first vision sensor and the first radar are horizontally set, and the viewing angles of the other group of the first vision sensor and the first radar are set obliquely upward. The numbers of the second vision sensor and the second radar are set to one group, and the viewing angles of the second vision sensor and the second radar are both horizontally set.

[0011] Specifically, the first radar and the second radar are ultrasonic radars or millimeter wave radars.

[0012] Specifically, the electric drive adjustment mechanism includes a micro motor, a reciprocating lead screw, guide posts, a sliding seat, a mounting seat, a spring, a conical frame, a conical groove, a driving gear, an adjustment frame, and a toothed rod frame. The micro motor is fixedly connected to the inner wall of the quick-connect card seat. The reciprocating lead screw is rotatably connected to the inner wall of the quick-connect card seat and is located on one side of the bottom of the micro motor. One end of the reciprocating lead screw is fixedly connected to the output end of the micro motor. The guide posts are symmetrically and fixedly connected to the inner wall of the quick-connect card seat and are located outside the reciprocating lead screw. The sliding seat is threadedly connected to the outer surface of the reciprocating lead screw and is vertically slidably connected to the outer surface of the guide posts. The mounting seat is horizontally slidably connected to the inner wall of the sliding seat, and a spring is fixedly connected between the mounting seat and the surface of the sliding seat. A conical groove is formed at the top of the mounting seat. A conical frame is provided at a position corresponding to the conical groove on the inner wall of the quick-connect card seat. The conical frame is slidably connected to the inner wall of the conical groove. The driving gear is rotatably connected to the outer surface of the mounting seat. The adjustment frame is rotatably connected to the inner wall of the mounting seat and is connected to the driving gear through a transmission member provided inside the mounting seat. The mounting plate seat is fixedly connected to the surface of the adjustment frame. The toothed rod frame is fixedly connected to the inner wall of the quick-connect card seat and is located on one side of the driving gear. The toothed rod frame is meshed with the driving gear.

[0013] Specifically, the data acquisition and processing module further includes a state switching unit. The state switching unit is used to collect the operation information of the micro motor, judge the form of the mounting plate seat according to the collected operation information of the micro motor, and automatically switch the working states of the first vision sensor, the first radar, the second vision sensor, and the second radar according to the form of the mounting plate seat.

[0014] Specifically, the controller further includes a vehicle alarm unit. The vehicle alarm unit is arranged in the box body. The vehicle alarm unit is connected to the vehicle control host through the CAN bus and is used to control the voice broadcaster in the vehicle control host to play alarm information.

[0015] Specifically, the controller further includes a data storage unit. The data storage unit is arranged in the box body. The data storage unit is connected to the vehicle control host through the CAN bus and is used to store the obstacle information data and the detection results in the memory card in the vehicle control host.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The structure of the present invention is reasonable. Through optimization measures such as integrating radar and vision sensor technologies, innovatively designing a quick-installation component, achieving bottom detection capabilities, and incorporating an automatic switching function, the detection performance and safety of the vehicle obstacle detection device have been significantly improved. These innovations not only provide drivers with more comprehensive and accurate obstacle information but also greatly enhance the safety and convenience during vehicle use. The present invention ingeniously combines radar and vision sensors, realizing the intelligent integration of multiple detection means. Radar technology can penetrate line-of-sight obstructions and accurately detect obstacles at long distances and under the vehicle bottom, while vision sensors can capture rich image information to finely identify obstacles in close proximity and complex environments. Complementing each other, they significantly improve the comprehensiveness and accuracy of obstacle detection. To solve the problems of inconvenient disassembly and assembly and limited angle adjustment of traditional detection devices, the present invention innovatively designs a quick-installation component. This component adopts a modular design, enabling easy and rapid assembly and disassembly of the detection device, greatly saving the time cost of installation and maintenance. At the same time, the quick-installation component also supports multi-angle adjustment, allowing the detection device to flexibly adapt to different vehicle models and detection requirements to ensure the best detection effect. Aiming at the problem of the detection blind area under the vehicle bottom, the present invention realizes comprehensive detection of the vehicle bottom by optimizing the layout and angle adjustment function of the detection components. Whether it is animals, balls, or damaged ground, they can all be promptly captured and the driver can be reminded to take corresponding measures, thus effectively avoiding potential safety hazards. To further improve driving safety, the present invention also incorporates an automatic switching function. This function can automatically adjust the detection perspective and parameters according to the vehicle's gear and speed to ensure the best detection effect in different driving states. For example, when in N gear or P gear and the vehicle speed is zero, the second vision sensor and the second radar operate to detect the vehicle bottom. When in D gear or R gear and the vehicle speed is greater than zero, the first vision sensor and the first radar operate to detect the surrounding of the vehicle. Through automatic switching, it is better able to capture obstacle information around and under the vehicle. Description of the Drawings

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, where: Figure 1 is a schematic structural diagram of a vehicle obstacle detection device based on intelligent vision according to the present invention; Figure 2 is a schematic structural diagram of a fixed connection seat in a vehicle obstacle detection device based on intelligent vision according to the present invention; Figure 3 is a schematic structural diagram of a second radar in a vehicle obstacle detection device based on intelligent vision according to the present invention; Figure 4 The front view of the quick - installation component in a vehicle obstacle detection device based on intelligent vision according to the present invention; Figure 5 The rear view of the quick - installation component in a vehicle obstacle detection device based on intelligent vision according to the present invention; Figure 6 The schematic structural diagram of the data acquisition and processing module in a vehicle obstacle detection device based on intelligent vision according to the present invention; Figure 7 The schematic structural diagram of the electric drive adjustment mechanism in a vehicle obstacle detection device based on intelligent vision according to the present invention; Figure 8 The schematic structural diagram of the mounting seat in a vehicle obstacle detection device based on intelligent vision according to the present invention; Figure 9 The schematic structural diagram of the controller in a vehicle obstacle detection device based on intelligent vision according to the present invention.

[0019] As shown in the figure: 1. Obstacle detection component; 11. Mounting plate seat; 12. First vision sensor; 13. First radar; 14. Second vision sensor; 15. Second radar; 2. Quick - installation component; 21. Fixed connection seat; 22. Quick - connection card seat; 100. Serial cable; 23. Data acquisition and processing module; 24. Electric drive adjustment mechanism; 3. Controller; 31. Box body; 32. Processor; 33. Gear lever detection unit; 34. Vehicle speed detection unit; 35. CAN bus; 10. Vehicle control host; 241. Micro - motor; 242. Reciprocating lead screw; 243. Guide post; 244. Slide seat; 245. Mounting seat; 246. Spring; 247. Conical frame; 248. Conical groove; 249. Driving gear; 2410. Adjusting frame; 2411. Tooth bar frame; 231. State switching unit; 36. Vehicle alarm unit; 37. Data storage unit. Specific embodiments

[0020] The following details the embodiments of the present invention. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention. On the contrary, the embodiments of the present invention include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0021] The following describes a vehicle obstacle detection device based on intelligent vision according to an embodiment of the present invention with reference to the accompanying drawings.

[0022] As Figures 1-9 shown, a vehicle obstacle detection device based on intelligent vision according to an embodiment of the present invention includes: Obstacle detection component 1: It includes a mounting plate base 11, a first vision sensor 12, a first radar 13, a second vision sensor 14, and a second radar 15. The first vision sensor 12 and the first radar 13 are arranged up and down on the surface of the mounting plate base 11, and the second vision sensor 14 and the second radar 15 are respectively arranged on the lower end surface of the mounting plate base 11; Quick installation component 2: It includes a fixed connection seat 21 and a quick connection card seat 22. The fixed connection seat 21 is respectively fixedly connected to the front end, rear end, left side, and right side of the vehicle chassis. The quick connection card seat 22 is clamped and fixed inside the fixed connection seat 21 and is electrically connected to the fixed connection seat 21. A data acquisition and processing module 23 and an electric drive adjustment mechanism 24 are respectively arranged inside the fixed connection seat 21 and the quick connection card seat 22. The obstacle detection component 1 is fixedly connected to the surface of the electric drive adjustment mechanism 24. The data acquisition and processing module 23 is respectively connected to the first vision sensor 12, the first radar 13, the second vision sensor 14, and the second radar 15 through a serial cable 100; Controller 3: It includes a box body 31, a processor 32, a gear lever detection unit 33, and a vehicle speed detection unit 34. The box body 31 is arranged inside the vehicle console. The processor 32, the gear lever detection unit 33, and the vehicle speed detection unit 34 are sequentially arranged inside the box body 31. The gear lever detection unit 33 is connected to the vehicle control host 10 through a CAN bus 35, and is used to obtain the gear information of the vehicle in real time and transmit this information to the processor 32. The vehicle speed detection unit 34 is used to measure the vehicle driving speed in real time and transmit this information to the processor 32. The processor 32 is respectively connected to the data acquisition and processing module 23 and the electric drive adjustment mechanism 24 through a serial cable 100, and is used to change the working state of the obstacle detection component 1.

[0023] It should be noted that the outer surface of the mounting plate base 11 described in this embodiment is in the same plane as the outer surfaces of the fixed connection seat 21 and the quick connection card seat 22.

[0024] It should be noted that power connection sockets (not shown in the figure) and power connection plugs are respectively arranged at the positions corresponding to the inner top wall of the fixed connection seat 21 and the top of the quick connection card seat 22 described in this embodiment. The fixed connection seat 21 and the quick connection card seat 22 are electrically connected through the connection of the power connection socket and the power connection plug.

[0025] It should be noted that card holes and elastic card heads are respectively arranged at the positions corresponding to the inner wall of the fixed connection seat 21 and the surface of the quick connection card seat 22 described in this embodiment. The card holes and the elastic card heads are clamped and fixed. In order to facilitate the pulling out of the quick connection card seat 22, a pulling groove is also provided on the surface of the quick connection card seat 22.

[0026] It should be noted that serial port panels connected to the serial port cable 100 are respectively provided on the surface of the mounting plate base 11, the inner wall of the fixed connection base 21, and the surface of the box body 31 described in this embodiment.

[0027] It can be understood that the front end, rear end, left side, and right side of the vehicle chassis are based on the vehicle head.

[0028] Specifically, the structure of the present invention is reasonable. Through optimization measures such as integrating radar and vision sensor technologies, innovating the design of the quick-installation component 2, realizing bottom detection capabilities, and incorporating an automatic switching function, the detection performance and safety of the vehicle obstacle detection device have been significantly improved. These innovations not only provide drivers with more comprehensive and accurate obstacle information but also greatly enhance the safety and convenience during vehicle use. The present invention cleverly combines radar and vision sensors to achieve the intelligent integration of multiple detection means. Radar technology can penetrate line-of-sight obstructions and accurately detect obstacles at long distances and under the vehicle, while the vision sensor can capture rich image information to finely identify obstacles in the near distance and complex environments. The two complement each other, significantly improving the comprehensiveness and accuracy of obstacle detection. To solve the problems of inconvenient disassembly and assembly and limited angle adjustment of traditional detection devices, the present invention innovatively designs the quick-installation component 2. This component adopts a modular design, enabling the rapid assembly and disassembly of the detection device, greatly saving the time cost of installation and maintenance. At the same time, the quick-installation component 2 also supports multi-angle adjustment, enabling the detection device to flexibly adapt to different vehicle models and detection requirements to ensure the best detection effect. To address the problem of the detection blind spot at the bottom of the vehicle, the present invention realizes the comprehensive detection of the vehicle bottom by optimizing the layout and angle adjustment function of the detection components. Whether it is an animal, a ball, or a damaged ground, it can be promptly captured and the driver can be reminded to take corresponding measures, thus effectively avoiding potential safety hazards. To further improve driving safety, the present invention also incorporates an automatic switching function. This function can automatically adjust the detection perspective and parameters according to the vehicle's gear and speed to ensure the best detection effect in different driving states. For example, when the vehicle is in N or P gear and the speed is zero, the second vision sensor 14 and the second radar 15 operate to detect the bottom of the vehicle. When the vehicle is in D or R gear and the speed is greater than zero, the first vision sensor 12 and the first radar 13 operate to detect the surroundings of the vehicle. Through automatic switching, it is better to capture obstacle information around and under the vehicle.

[0029] During use, when the gear lever detection unit 33 detects that the vehicle gear is in N or P gear and the vehicle speed detected by the vehicle speed detection unit 34 is zero, the processor 32 determines that the vehicle is in a suspended state. To improve the starting safety, it is necessary to detect the bottom of the vehicle. The electric drive adjustment mechanism 24 is powered on and operates to change the shape of the mounting plate seat 11 from a vertical state to a horizontal state. In the horizontal state, the second vision sensor 14 and the second radar 15 on the lower end surface of the mounting plate seat 11 are accurately oriented towards the bottom of the vehicle to detect the bottom of the vehicle. Through the coordinated operation of the second vision sensor 14 and the second radar 15, the obstacles at the bottom of the vehicle are finely identified, significantly improving the comprehensiveness and accuracy of obstacle detection. When the gear lever detection unit 33 detects that the vehicle gear is in D or R gear and the vehicle speed detected by the vehicle speed detection unit 34 is greater than zero, the processor 32 determines that the vehicle is in a normal driving state. To ensure driving safety, it is necessary to detect the surrounding of the vehicle. The electric drive adjustment mechanism 24 is powered on and operates to change the shape of the mounting plate seat 11 from a horizontal state to a vertical state. In the vertical state, the first vision sensor 12 and the first radar 13 on the surface of the mounting plate seat 11 are accurately oriented towards the outside of the vehicle chassis to detect the surrounding of the vehicle. Through the coordinated operation of the first vision sensor 12 and the first radar 13, the obstacles around the vehicle are finely identified, significantly improving the comprehensiveness and accuracy of obstacle detection.

[0030] In one embodiment of the present invention, as Figure 1 shown, when the mounting plate seat 11 is in the horizontal state, its lower surface protrudes from the vehicle chassis. When the mounting plate seat 11 is in the vertical state, its surface is in the same plane as the outer surface of the vehicle chassis.

[0031] It should be noted that the vehicle described in this embodiment is not shown in the figure.

[0032] Specifically, when the mounting plate seat 11 is placed in the horizontal position, its surface will extend beyond the lower edge of the vehicle chassis, forming a downward protruding part. This design ingeniously exposes the lower end surface of the mounting plate seat 11, enabling the second vision sensor 14 and the second radar 15 to be oriented towards the inner side below the vehicle chassis, effectively monitoring this area and promptly detecting potential obstacles such as animals, balls, and damaged ground. When the mounting plate seat 11 is switched to the vertical state, its surface perfectly merges with the outer surface of the vehicle chassis, and the lower end surface is also flush with the lower surface of the chassis. Such a design not only ensures the clean and harmonious appearance of the vehicle but also avoids the mounting plate seat 11 from being accidentally touched, enhancing the overall use effect and safety.

[0033] In one embodiment of the present invention, as Figures 2-3As shown, the number of the first vision sensors 12 and the first radars 13 are respectively set to two groups. For one group, the viewing angles of the first vision sensors 12 and the first radars 13 are horizontally set, and for the other group, the viewing angles of the first vision sensors 12 and the first radars 13 are set obliquely upward. The number of the second vision sensors 14 and the second radars 15 is set to one group, and the viewing angles of the second vision sensors 14 and the second radars 15 are both horizontally set.

[0034] Specifically, further limit the number and installation angles of the first vision sensors 12, the first radars 13, the second vision sensors 14 and the second radars 15. The number of the first vision sensors 12 and the first radars 13 is set to two groups to provide omnidirectional monitoring. For one group, the viewing angle is horizontally set to focus on monitoring the road surface directly in front of the corresponding vehicle chassis height, effectively identifying obstacles in front of the corresponding chassis height. For the other group, the viewing angle is set obliquely upward to widen the viewing range and monitor potential dangers around the vehicle, such as vehicles and low obstacles, etc. The number of the second vision sensors 14 and the second radars 15 is set to one group, and the viewing angle is horizontally set to focus on the monitoring under the vehicle chassis. Through the ingenious design of the mounting plate seat 11, when the mounting plate seat 11 is in a horizontal state, the second vision sensors 14 and the second radars 15 can be fully exposed to conduct a detailed inspection under the vehicle chassis, ensuring the safe use of the vehicle and good use effect.

[0035] In an embodiment of the present invention, as Figures 2-3 shown, the first radar 13 and the second radar 15 are ultrasonic radars or millimeter-wave radars.

[0036] Specifically, further limit the types of the first radar 13 and the second radar 15.

[0037] In an embodiment of the present invention, as Figures 7-8As shown in the figure, the electric drive adjustment mechanism 24 includes a micro motor 241, a reciprocating lead screw 242, a guide post 243, a sliding seat 244, a mounting seat 245, a spring 246, a conical frame 247, a conical groove 248, a driving gear 249, an adjustment frame 2410 and a tooth bar frame 2411. The micro motor 241 is fixedly connected to the inner wall of the quick-connect card seat 22. The reciprocating lead screw 242 is rotatably connected to the inner wall of the quick-connect card seat 22 and is located on one side of the bottom of the micro motor 241. One end of the reciprocating lead screw 242 is fixedly connected to the output end of the micro motor 241. The guide posts 243 are symmetrically and fixedly connected to the inner wall of the quick-connect card seat 22 and are located outside the reciprocating lead screw 242. The sliding seat 244 is threadedly connected to the outer surface of the reciprocating lead screw 242 and is vertically slidably connected to the outer surface of the guide post 243. The mounting seat 245 is horizontally slidably connected to the inner wall of the sliding seat 244, and a spring 246 is fixedly connected between the mounting seat 245 and the surface of the sliding seat 244. A conical groove 248 is formed at the top of the mounting seat 245. A conical frame 247 is provided at a position corresponding to the conical groove 248 on the inner wall of the quick-connect card seat 22. The conical frame 247 is slidably connected to the inner wall of the conical groove 248. The driving gear 249 is rotatably connected to the outer surface of the mounting seat 245. The adjustment frame 2410 is rotatably connected to the inner wall of the mounting seat 245 and is connected to the driving gear 249 through a transmission member provided inside the mounting seat 245. The mounting plate seat 11 is fixedly connected to the surface of the adjustment frame 2410. The tooth bar frame 2411 is fixedly connected to the inner wall of the quick-connect card seat 22 and is located on one side of the driving gear 249. The tooth bar frame 2411 is meshed with the driving gear 249.

[0038] It should be noted that the micro motor 241 described in this embodiment includes an encoder (not shown in the figure). The encoder is used to monitor the number of rotation turns of the micro motor 241 in real time. Through the pre-established correspondence between the number of rotation turns and the position value of the sliding seat 244, the precise position of the sliding seat 244 can be calculated in real time.

[0039] Specifically, the structure and connection relationship of the electric drive adjustment mechanism 24 are further described. The electric drive adjustment mechanism 24 is used to adjust the shape of the mounting plate seat 11. By adjusting the shape of the mounting plate seat 11, the synchronous adjustment of the monitoring angles of the first vision sensor 12, the first radar 13, the second vision sensor 14 and the second radar 15 is realized. This adjustment mechanism is not only flexible but also extremely efficient, enabling these sensors and radars to freely switch the monitoring range between the surrounding and the bottom of the vehicle, and the use effect is good.

[0040] When in use, when the current vehicle gear is in N or P gear and the vehicle speed is zero, the micro-motor 241 is energized to operate. The operation of the micro-motor 241 drives the reciprocating lead screw 242 to rotate synchronously. The rotation of the reciprocating lead screw 242 drives the slide block 244 to move downward synchronously. The downward movement of the slide block 244 drives the mounting seat 245 to move downward synchronously. During the downward movement of the mounting seat 245, it is separated from the conical frame 247 synchronously. After being separated from the conical frame 247, the mounting seat 245 loses the extrusion force and starts to move inward under the action of the spring 246, giving sufficient rotation space to the mounting plate seat 11. When the driving gear 249 on the mounting seat 245 comes into contact with and meshes with the tooth bar frame 2411, it will drive the driving gear 249 to rotate synchronously. The rotation of the driving gear 249 drives the adjusting frame 2410 to rotate synchronously through the transmission parts inside the mounting seat 245. The rotation of the adjusting frame 2410 drives the mounting plate seat 11 to rotate, changing it from a vertical state to a horizontal state. After changing the form, the second vision sensor 14 and the second radar 15 on its lower end face face the inner side of the vehicle bottom, facilitating the detection of the vehicle bottom; When the current vehicle gear is in D or R gear and the vehicle speed is greater than zero, the micro-motor 241 is energized to operate. The operation of the micro-motor 241 drives the reciprocating lead screw 242 to rotate synchronously. The rotation of the reciprocating lead screw 242 drives the slide block 244 to move upward and reset synchronously. The upward movement of the slide block 244 drives the mounting seat 245 to move upward synchronously. During the upward movement of the mounting seat 245, the driving gear 249 comes into contact with and meshes with the tooth bar frame 2411 and drives the driving gear 249 to rotate synchronously. The rotation of the driving gear 249 drives the adjusting frame 2410 to rotate synchronously through the transmission parts inside the mounting seat 245. The rotation of the adjusting frame 2410 drives the mounting plate seat 11 to rotate, changing it from a horizontal state to a vertical state. After changing the form, the first vision sensor 12 and the first radar 13 on its surface face the outside of the vehicle chassis, facilitating the detection of the surrounding of the vehicle. As the mounting seat 245 moves upward, when the conical frame 247 enters the conical groove 248, under the extrusion of the conical frame 247, the mounting seat 245 moves outward synchronously and stretches the spring 246 until the surface of the mounting plate seat 11 is in the same plane as the outer surface of the vehicle chassis.

[0041] In an embodiment of the present invention, as Figure 6 shown, the data acquisition and processing module 23 further includes a state switching unit 231. The state switching unit 231 is used to collect the operation information of the micro-motor 241, judge the form of the mounting plate seat 11 according to the collected operation information of the micro-motor 241, and automatically switch the working states of the first vision sensor 12, the first radar 13, the second vision sensor 14 and the second radar 15 according to the form of the mounting plate seat 11.

[0042] It should be noted that the data acquisition and processing module 23 described in this embodiment further includes a data comparison module. The main responsibility of the data comparison module is to store and manage preset road obstacle information, and compare this information with the real-time collected data.

[0043] Specifically, through this unit, the system can intelligently manage the working states of the first vision sensor 12, the first radar 13, the second vision sensor 14, and the second radar 15, ensuring that they can operate efficiently and without interference in different situations.

[0044] Specifically, when the mounting plate base 11 is in a horizontal state, the state switching unit 231 will automatically activate the second vision sensor 14 and the second radar 15, and at the same time turn off the first vision sensor 12 and the first radar 13. This setting is usually applicable to the scenario where the vehicle is parked and the bottom of the vehicle needs to be monitored. By the collaborative work of the second vision sensor 14 and the second radar 15, it helps the driver to timely detect and deal with obstacles or potential dangers at the bottom. When the mounting plate base 11 is in a vertical state, the state switching unit 231 will switch to another working mode, that is, activate the first vision sensor 12 and the first radar 13, and at the same time turn off the second vision sensor 14 and the second radar 15. This configuration is usually used when the vehicle is driving normally and needs to monitor the surrounding of the vehicle. By the collaborative work of the first vision sensor 12 and the first radar 13, it helps the driver to timely detect and deal with obstacles or potential dangers around the vehicle. This intelligent switching of the working state not only improves the efficiency and accuracy of the monitoring system, but also effectively reduces energy consumption and potential interference. Since different sensors and radars do not affect each other in different states, they can be ensured to always be in the best working state, providing stable and reliable monitoring information for the driver.

[0045] In an embodiment of the present invention, as Figure 9 shown, the controller 3 further includes a vehicle alarm unit 36. The vehicle alarm unit 36 is arranged in the box body 31. The vehicle alarm unit 36 is connected to the vehicle control host 10 through the CAN bus 35, and is used to control the voice broadcaster in the vehicle control host 10 to play alarm information.

[0046] Specifically, the vehicle alarm unit 36 in the controller 3 is a key component, which plays a crucial role in the intelligent driving system. By integrating the vehicle alarm unit 36 into the box body 31 and connecting it to the vehicle control host 10 through the CAN bus 35, the system achieves efficient and reliable information transmission and instruction execution. When the vehicle encounters an emergency or abnormal situation, the vehicle alarm unit 36 can respond quickly and send an alarm signal to the vehicle control host 10 through the CAN bus 35. After receiving these signals, the vehicle control host 10 will immediately activate the built-in voice broadcaster to play the preset alarm information, which may include emergency braking prompts, collision warnings, lane departure warnings, etc., aiming to timely remind the driver to pay attention and take corresponding measures, thereby effectively avoiding potential safety hazards. The CAN bus 35, as a bridge connecting the vehicle alarm unit 36 and the vehicle control host 10, ensures the high speed and accuracy of information transmission. It can not only carry a large amount of data signals, but also has excellent anti-interference ability and real-time performance, enabling the vehicle alarm system to operate efficiently in a complex and changeable driving environment. In addition, the design of the vehicle alarm unit 36 also fully considers the user experience and safety. It can ensure that the driver obtains the alarm information in a timely manner while avoiding excessive noise interference, ensuring the comfort and safety of the driving environment. Generally speaking, the vehicle alarm unit 36 in the controller 3 provides reliable safety protection for the intelligent driving system through its efficient information transmission and processing capabilities and close cooperation with the vehicle control host 10. It can not only timely remind the driver to pay attention to potential dangers, but also provide clear and accurate alarm information through the voice broadcaster, thereby effectively improving driving safety and user experience, and having good use effects.

[0047] In an embodiment of the present invention, as Figure 9 shown, the controller 3 further includes a data storage unit 37. The data storage unit 37 is arranged in the box body 31 and is connected to the vehicle control host 10 through the CAN bus 35, and is used to store the obstacle information data and detection results into the memory card in the vehicle control host 10.

[0048] Specifically, the data storage unit 37 in the controller 3 is a crucial component. It is responsible for recording and storing the obstacle information data and detection results encountered during vehicle driving. This function is crucial for the safety, reliability, and subsequent data analysis of the intelligent driving system. The data storage unit 37 is ingeniously arranged within the box body 31 and achieves high-speed and stable data communication with the vehicle control host 10 through the CAN bus 35. This means that when the first vision sensor 12, the first radar 13, the second vision sensor 14, and the second radar 15 detect obstacles and generate corresponding data, these data can be quickly transmitted to the data storage unit 37 for processing and storage. The stored data includes but is not limited to key information such as the type, location, size, and distance of the obstacles, as well as the processing results of the detection system for this information, such as the assessment of the potential danger level and the suggestions for obstacle avoidance strategies. These data are carefully organized and stored on the memory card in the vehicle control host 10 to ensure the integrity and traceability of the data. As a medium for data storage, the memory card has advantages such as large capacity, fast read and write speed, and long data retention time. It can store a large amount of historical data, providing valuable resources for subsequent data analysis and the optimization of the intelligent driving system. For example, through the mining and analysis of historical data, common driving scenarios and potential risk points can be identified, and then the algorithms and strategies of the intelligent driving system can be optimized to improve the overall performance and safety of the system. In addition, the design of the data storage unit 37 also fully considers data security and privacy protection. It adopts advanced data encryption technology to ensure that the stored data is not illegally accessed or tampered with during transmission and storage. At the same time, the data storage unit 37 also follows strict data management specifications to ensure the legal use of data and privacy protection. In summary, through its efficient data storage and processing capabilities, as well as its close cooperation with the vehicle control host 10, the data storage unit 37 in the controller 3 provides reliable data support and security protection for the intelligent driving system. It can not only record and store key obstacle information data and detection results but also provide valuable resources for subsequent data analysis and system optimization.

[0049] In summary, for the vehicle obstacle detection device based on intelligent vision in the embodiment of the present invention, the structure of the present invention is reasonable. Through optimization measures such as integrating radar and vision sensor technologies, innovating the design of the quick-installation component 2, realizing bottom detection capabilities, and incorporating an automatic switching function, the detection performance and safety of the vehicle obstacle detection device are significantly improved. These innovations not only provide drivers with more comprehensive and accurate obstacle information but also greatly enhance the safety and convenience during vehicle use, and the use effect is good.

[0050] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0051] In the description of this specification, descriptions with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0052] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A vehicle obstacle detection device based on intelligent vision, characterized in that, Including: Obstacle detection component (1): including a mounting plate base (11), a first vision sensor (12), a first radar (13), a second vision sensor (14) and a second radar (15). The first vision sensor (12) and the first radar (13) are arranged vertically on the surface of the mounting plate base (11), and the second vision sensor (14) and the second radar (15) are respectively arranged on the lower end surface of the mounting plate base (11); Quick installation component (2): including a fixed connection seat (21) and a quick connection card seat (22). The fixed connection seat (21) is respectively fixedly connected to the front end, rear end, left side and right side of the vehicle chassis. The quick connection card seat (22) is clamped and fixed on the inner wall of the fixed connection seat (21) and is electrically connected to the fixed connection seat (21). A data acquisition and processing module (23) and an electric drive adjustment mechanism (24) are respectively arranged inside the fixed connection seat (21) and the quick connection card seat (22). The obstacle detection component (1) is fixedly connected to the surface of the electric drive adjustment mechanism (24). The data acquisition and processing module (23) is respectively connected to the first vision sensor (12), the first radar (13), the second vision sensor (14) and the second radar (15) through a serial cable (100); Controller (3): including a box body (31), a processor (32), a gear lever detection unit (33) and a vehicle speed detection unit (34). The box body (31) is arranged inside the vehicle's center console. The processor (32), the gear lever detection unit (33) and the vehicle speed detection unit (34) are sequentially arranged inside the box body (31). The gear lever detection unit (33) is connected to the vehicle control host (10) through a CAN bus (35) for obtaining the gear information of the vehicle in real time and transmitting this information to the processor (32). The vehicle speed detection unit (34) is used to measure the vehicle driving speed in real time and transmit this information to the processor (32). The processor (32) is respectively connected to the data acquisition and processing module (23) and the electric drive adjustment mechanism (24) through a serial cable (100) for changing the working state of the obstacle detection component (1).

2. The vehicle obstacle detection device based on intelligent vision according to claim 1, characterized in that When the mounting plate base (11) is in a horizontal state, it protrudes from the lower surface of the vehicle chassis. When the mounting plate base (11) is in a vertical state, its surface is in the same plane as the outer surface of the vehicle chassis.

3. The vehicle obstacle detection device based on intelligent vision according to claim 1, characterized in that, The numbers of the first vision sensor (12) and the first radar (13) are respectively set to two groups. The viewing angles of one group of the first vision sensor (12) and the first radar (13) are horizontally arranged, and the viewing angles of the other group of the first vision sensor (12) and the first radar (13) are set obliquely upward. The numbers of the second vision sensor (14) and the second radar (15) are set to one group, and the viewing angles of the second vision sensor (14) and the second radar (15) are both horizontally arranged.

4. The vehicle obstacle detection device based on intelligent vision according to claim 1, characterized in that The first radar (13) and the second radar (15) are ultrasonic radars or millimeter-wave radars.

5. The vehicle obstacle detection device based on intelligent vision according to claim 1, characterized in that, The electric drive adjustment mechanism (24) includes a micro motor (241), a reciprocating lead screw (242), a guide post (243), a sliding seat (244), a mounting seat (245), a spring (246), a conical frame (247), a conical groove (248), a driving gear (249), an adjustment frame (2410) and a tooth rod frame (2411). The micro motor (241) is fixedly connected to the inner wall of the quick-connect card seat (22). The reciprocating lead screw (242) is rotatably connected to the inner wall of the quick-connect card seat (22) and is located on one side of the bottom of the micro motor (241). One end of the reciprocating lead screw (242) is fixedly connected to the output end of the micro motor (241). The guide posts (243) are symmetrically and fixedly connected to the inner wall of the quick-connect card seat (22) and are located outside the reciprocating lead screw (242). The sliding seat (244) is threadedly connected to the outer surface of the reciprocating lead screw (242) and is vertically slidably connected to the outer surface of the guide post (243). The mounting seat (245) is horizontally slidably connected to the inner wall of the sliding seat (244), and a spring (246) is fixedly connected between the mounting seat (245) and the surface of the sliding seat (244). A conical groove (248) is formed at the top of the mounting seat (245). A conical frame (247) is arranged at a position corresponding to the conical groove (248) on the inner wall of the quick-connect card seat (22). The conical frame (247) is slidably connected to the inner wall of the conical groove (248). The driving gear (249) is rotatably connected to the outer surface of the mounting seat (245). The adjustment frame (2410) is rotatably connected to the inner wall of the mounting seat (245) and is connected to the driving gear (249) through a transmission member arranged inside the mounting seat (245). The mounting plate seat (11) is fixedly connected to the surface of the adjustment frame (2410). The tooth rod frame (2411) is fixedly connected to the inner wall of the quick-connect card seat (22) and is located on one side of the driving gear (249). The tooth rod frame (2411) is meshed with the driving gear (249).

6. The vehicle obstacle detection device based on intelligent vision according to claim 5, wherein, The data acquisition and processing module (23) further includes a state switching unit (231). The state switching unit (231) is used to collect the operation information of the micro motor (241), judge the form of the mounting plate seat (11) according to the collected operation information of the micro motor (241), and automatically switch the working states of the first vision sensor (12), the first radar (13), the second vision sensor (14) and the second radar (15) according to the form of the mounting plate seat (11).

7. The vehicle obstacle detection device based on intelligent vision according to claim 1, wherein The controller (3) further includes a vehicle alarm unit (36). The vehicle alarm unit (36) is arranged in the box body (31). The vehicle alarm unit (36) is connected to the vehicle control host (10) through the CAN bus (35) and is used to control the voice broadcaster in the vehicle control host (10) to play alarm information.

8. The vehicle obstacle detection device based on intelligent vision according to claim 1, wherein The controller (3) further includes a data storage unit (37), the data storage unit (37) is disposed within the box body (31), and the data storage unit (37) is connected to the vehicle control host (10) through a CAN bus (35) for storing the obstacle information data and the detection result into a memory card in the vehicle control host (10).

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