Vehicle-mounted laser radar damping device

Abstract

The invention discloses a vehicle-mounted laser radar damping device, which belongs to the technical field of radar measurement and comprises a rubber damping mechanism, a quick release locking mechanism, a horizontal displacement control mechanism, a pitch angle control mechanism and a chassis support. The rubber damping mechanism achieves primary mechanical damping through elastic deformation, the horizontal displacement control mechanism precisely drives a bidirectional servo motor to achieve precise adjustment of the horizontal pose, and the pitch angle control mechanism can correct the pitch angle of the radar in real time. The mechanisms work cooperatively, multidirectional vibration generated in the vehicle driving process is effectively restrained, and the measurement stability of the laser radar is remarkably improved; the sucker can reduce damage to the surface of the vehicle body in testing; the quick-release locking mechanism can simplify the installation process and improve the disassembly and assembly efficiency. Therefore, the invention has the following remarkable advantages: (1) a multi-stage damping control system is adopted to realize high-precision damping adjustment; (2) the installation is more flexible and convenient due to the modular design; and (3) the device has multi-dimensional adjustment capability and is adaptive to different types of laser radars.

Description

Technical Field

[0001] The present invention relates to the field of radar measurement technology, and in particular to a vehicle-mounted laser radar shock absorption device. Background Art

[0002] With the rapid development of autonomous driving technology, especially the accelerated commercialization of driverless vehicles (L4 / L5), the importance of LiDAR as a core sensor for environmental perception has become increasingly prominent. LiDAR achieves high-precision three-dimensional mapping of the surrounding environment by emitting laser pulses and measuring their reflection time. It has significant advantages such as high ranging accuracy (centimeter level), excellent spatial resolution, and strong resistance to ambient light interference. In the autonomous driving system, the dense 3D point cloud data generated by LiDAR provides the vehicle with key environmental information, including road topology, obstacle detection and classification, and drivable area identification, which is an important guarantee for ensuring driving safety.

[0003] However, during the actual operation of the vehicle, the measurement accuracy of the LiDAR is easily disturbed by mechanical vibration. Especially under complex road conditions (such as unpaved roads, speed bumps, rugged terrain, etc.), the vehicle-mounted LiDAR will be subjected to high-frequency vibrations in multiple dimensions (X / Y / Z axes), causing point cloud data distortion, which seriously affects the accuracy of target detection and tracking. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle-mounted laser radar shock absorption device to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0005] The technical solution adopted to solve the above technical problems is as follows: a vehicle-mounted laser radar shock absorption device, comprising: a chassis support, including a first layer plate, a second layer plate, a third layer plate and a fourth layer plate distributed in sequence, the first layer plate is rotatably connected to the second layer plate, the third layer plate is slidably arranged on the top of the second layer plate, and the fourth layer plate is slidably arranged on the top of the third layer plate along a direction perpendicular to the sliding direction of the third layer plate; a horizontal displacement control mechanism, including a second motor, a third motor, a second screw installed at the output end of the second motor, and a third screw installed at the output end of the third motor, the second motor is installed on the second layer plate, the second screw is threadedly connected to the third layer plate, the third motor is installed on the third layer plate, and the third screw is threadedly connected to the fourth layer plate; a pitch angle control mechanism, installed between the first layer plate and the second layer plate, the pitch angle control mechanism is used to adjust the swing angle of the second layer plate relative to the first layer plate.

[0006] The technical solution has at least the following beneficial effects: The radar is installed on the fourth layer board. Through the regulation of the horizontal displacement control mechanism and the pitch angle control mechanism, when vibration occurs, more precise correction is achieved by implementing displacement in the opposite direction of the vibration offset amount, which can actively cancel the position change caused by vibration, thereby maintaining the stability and measurement reliability of the radar. Therefore, while ensuring high-precision shock absorption performance, this device has the ability of multi-degree-of-freedom active adjustment to meet the vibration suppression requirements under different road conditions and improve the installation adaptability, so as to provide more stable and reliable environmental perception data for the autonomous driving system.

[0007] As a further improvement of the above technical solution, the pitch angle control mechanism includes a first motor installed on the first layer board and a first screw rod installed at the output end of the first motor. A first slider threaded to the first screw rod is slidably installed on the top of the first layer board. A connecting rod is rotatably installed on the top of the first slider, and the other end of the connecting rod is rotatably installed at the bottom of the second layer board. By driving the first motor to drive the first screw rod to rotate, the first slider is pushed to slide. The first slider pushes the connecting rod to swing, thereby pushing the second layer board to swing relative to the first layer board to achieve the adjustment of the pitch angle. It can also realize the installation of this device on an inclined plane and ensure that the radar always remains horizontal by adjusting the pitch angle.

[0008] As a further improvement of the above technical solution, an installation base is provided on the top of the fourth layer board, and a rubber shock absorption mechanism is also installed between the installation base and the fourth layer board. The rubber shock absorption mechanism includes a first rubber column and a plurality of second rubber columns. The two ends of the first rubber column are respectively connected to the center of the top of the fourth layer board and the center of the bottom of the installation base; the two ends of the second rubber column are respectively connected to the top of the fourth layer board and the bottom of the installation base, and the plurality of second rubber columns are distributed around the center line of the first rubber column. The structure is simple and the reliability is high; when the stability of the chassis support is affected by external vibration, the installation base can perform shock absorption in multiple dimensions through the combined shock absorption effect of the first rubber column and the second rubber column, improving the stability of the radar, thereby reducing the situation that the radar data is inaccurate due to the influence of external vibration interference. Wide-band shock absorption effect: The high damping characteristic of rubber can effectively attenuate the high-frequency vibration (50 - 500Hz) generated by the vehicle engine and road surface bumps, and partially absorb the low-frequency impact (5 - 20Hz) during vehicle start / stop through rubber stiffness optimization. Strong environmental adaptability: High-quality silica gel or fluororubber can maintain elasticity in the range of -40°C to 120°C, adapting to extremely cold or high-temperature environments. In addition, the sealing structure of the device can effectively avoid the erosion of water vapor and salt spray, making it suitable for long-term outdoor use.

[0009] As a further improvement of the above technical solution, one end of the top of the second rubber column is inclined towards the first rubber column, so that multiple second rubber columns have a good damping effect in the horizontal direction.

[0010] As a further improvement of the above technical solution, the cross-section of the first rubber column is an equilateral polygon, and the number of the second rubber columns is the same as the number of sides of the equilateral polygon. The circumferential damping effect of the first rubber column is adapted to the damping directions of the multiple second rubber columns, so that the damping effect of the whole formed by the first rubber column and the multiple second rubber columns has circumferential uniformity and stability.

[0011] As a further improvement of the above technical solution, the position of the second rubber column corresponds to the edge of the first rubber column.

[0012] As a further improvement of the above technical solution, large-sized limiting columns are arranged at both ends of the first rubber column and the second rubber column. A positioning column with a size smaller than that of the limiting column is connected to one end of the limiting column away from the first rubber column or the second rubber column. The fourth layer board and the mounting base are both provided with positioning holes for the corresponding positioning columns to be inserted into. This facilitates the stable connection of the first rubber column and the second rubber column, so that the first rubber column and the second rubber column can play a better damping role.

[0013] As a further improvement of the above technical solution, the cross-section of the first rubber column is a quadrilateral; the cross-section of the second rubber column is a circle.

[0014] As a further improvement of the above technical solution, a quick-release locking mechanism and a radar are further included. The radar is equipped with a fixing plate. The quick-release locking mechanism is used to connect the fixing plate and the mounting base. The quick-release locking mechanism includes an insertion structure between the fixing plate and the mounting base. The quick-release locking mechanism further includes a lock catch. The lock catch is installed on the top of the mounting base, and the lock catch is used to press the fixing plate against the mounting base. It supports the quick replacement of different types of lidars (such as mechanical / MEMS solid-state radars). The device adopts a tightening design of the buckle, and the installation / dismantling can be completed without other tools, greatly reducing the debugging or maintenance time of the lidar. In vehicle maintenance, sensor replacement or emergency situations, the lidar can be quickly relocated, avoiding complex operations from affecting the operation process.

[0015] As a further improvement of the above technical solution, a suction cup is installed at the bottom of the first layer plate. The chassis support can be firmly attached to a glass plane or a metal plane. Compared with the widely used magnetic suction base at present, the suction cup base has the following advantages. Wider material compatibility: The magnetic suction base is only applicable to ferromagnetic metal surfaces (such as a steel body), and cannot reliably adsorb vehicles made of aluminum alloy, carbon fiber or composite materials. No risk of electromagnetic interference: A strong magnetic field may interfere with the precision electronic components inside the lidar (such as MEMS galvanometers, photodetectors) or other vehicle-mounted sensors (such as magnetometers, electronic compasses). Better vibration suppression performance: The metal contact surface is easy to conduct high-frequency vibrations (such as engine resonance, road excitation), and there are small gaps in the magnetic adsorption, which may cause secondary micro-vibrations. The rubber sealing ring in the suction cup base can effectively absorb the high-frequency vibration energy. Higher installation flexibility: The magnetic suction base needs to predict the position of the metal plane and cannot temporarily adjust the installation angle (such as the curved surface of the inclined roof), while the suction cup base can adapt to curved or irregular surfaces (such as the curved roof) and realize multi-angle fine adjustment in cooperation with a quick-release locking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which:

[0017] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of the diagonal sectional structure of an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of the middle sectional structure of an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of the exploded structure of an embodiment of the present invention.

[0021] 100, chassis support; 101, suction cup; 102, outer housing; 110, first layer plate; 111, first motor; 112, first screw; 113, first slider; 114, connecting rod; 120, second layer plate; 121, second slider; 122, second track; 123, second motor; 124, second screw; 130, third layer plate; 131, third slider; 132, third track; 133, third motor; 134, third screw; 140, fourth layer plate; 200, mounting base; 210, fixing plate; 220, lock; 300, radar; 400, first rubber column; 500, second rubber column; 600, limiting column; 610, positioning column; 620, positioning hole. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0024] In the description of the present invention, the meaning of "a number of" is one or more, the meaning of "a plurality of" is two or more, and terms such as "greater than", "less than", "exceeding", etc. are understood not to include the recited number, while terms such as "above", "below", "within", etc. are understood to include the recited number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence of the indicated technical features.

[0025] In the description of the present invention, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0026] Refer to Figures 1-4, the vehicle-mounted lidar shock absorption device includes a chassis support 100 and a mounting base 200. The chassis support 100 includes a first layer plate 110, a second layer plate 120, a third layer plate 130, and a fourth layer plate 140. The first layer plate 110 is in the shape of a square plate, and a suction cup 101 is respectively installed at each of the four corners of the bottom of the first layer plate 110. A push switch is provided on the suction cup 101, and the suction force of the suction cup 101 can be increased by operating the push switch, thereby ensuring the installation stability of the first layer plate 110. Compared with the widely used magnetic base at present, the suction cup base has the following advantages. Wider material compatibility: The magnetic base is only applicable to ferromagnetic metal surfaces (such as a steel body), and cannot be reliably adsorbed on vehicles made of aluminum alloy, carbon fiber or composite materials; No risk of electromagnetic interference: The strong magnetic field may interfere with the internal precision electronic components of the lidar (such as MEMS galvanometers, photodetectors) or other vehicle-mounted sensors (such as magnetometers, electronic compasses). Better vibration suppression performance: The metal contact surface is easy to conduct high-frequency vibrations (such as engine resonance, road surface excitation), and there is a small gap in the magnetic adsorption, which may cause secondary micro-vibrations, while the rubber sealing ring in the suction cup base can effectively absorb the high-frequency vibration energy; Higher installation flexibility: The magnetic base needs to predict the position of the metal plane and cannot adjust the installation angle temporarily (such as the curved surface of an inclined roof), while the suction cup base can adapt to curved or irregular surfaces (such as the curved roof of a car) and cooperate with a quick-release locking mechanism to achieve multi-angle fine-tuning.

[0027] A first mounting ear is installed on one side of the top of the first layer plate 110. The second layer plate 120 is also in the shape of a square plate. The second layer plate 120 is located above the first layer plate 110, and a second mounting ear is installed on the side of the second layer plate 120 close to the first mounting ear. The second mounting ear and the first mounting ear are rotatably connected by a first rotating shaft, so that the second layer plate 120 and the first layer plate 110 are rotatably connected.

[0028] A pitch angle control mechanism is installed between the first layer board 110 and the second layer board 120. The pitch angle control mechanism includes a first motor 111 and a first screw rod 112. A first concave cavity recessed downward is provided at the top of the first layer board 110, and the first motor 111 is embedded and installed in the first concave cavity. The output end of the first motor 111 faces away from the first mounting ear. The output end of the first motor 111 is connected to the first screw rod 112 through a first coupling. A chute is opened at the top of the first layer board 110, and a first slider 113 slides in the chute. The sliding direction of the first slider 113 is perpendicular to the axis direction of the second layer board 120 rotating relative to the first layer board 110. The axis of rotation of the output end of the first motor 111 coincides with the axis of the first screw rod 112, the axis of the first screw rod 112 is parallel to the sliding direction of the first slider 113, and the first screw rod 112 is threadedly connected to the first slider 113. A connecting rod 114 is rotatably installed at the top of the first slider 113. A fixing block is rotatably installed at one end of the connecting rod 114 away from the first slider 113, and the fixing block is detachably installed on the second layer board 120 through a bolt. By driving the first motor 111, the first screw rod 112 is driven to rotate, so that the first slider 113 slides in the chute. At this time, the first slider 113 pushes the connecting rod 114 to swing, thereby driving the second layer board 120 to swing relative to the first layer board 110, realizing the adjustment of the pitch angle. In other embodiments, the first slider 113 can also be pushed by an electric push rod to realize the adjustment of the pitch angle.

[0029] The third layer board 130 is also in the shape of a square board, and the third layer board 130 is located above the second layer board 120. Second sliders 121 are installed on both sides of the bottom of the third layer board 130. Second tracks 122 are installed at the corresponding positions on both sides of the top of the second layer board 120 corresponding to the two second sliders 121. The two second sliders 121 are respectively slidably arranged on the corresponding second tracks 122, so that the third layer board 130 is slidably connected to the second layer board 120.

[0030] A horizontal displacement control mechanism is installed between the second layer board 120 and the fourth layer board 140. The horizontal displacement control mechanism includes a second motor 123, a third motor 133, a second screw rod 124 and a third screw rod 134.

[0031] A second concave cavity is provided at the top of the second layer board 120, and the second motor 123 is embedded and installed in the second concave cavity. The output end of the second motor 123 is connected to the second screw rod 124 through a coupling. A third mounting ear is installed at the bottom of the third layer board 130, and the second screw rod 124 is threadedly connected to the third mounting ear. The axis of rotation of the output end of the second motor 123 coincides with the axis of the second screw rod 124, and the axis of the second screw rod 124 is parallel to the sliding direction of the third layer board 130 relative to the second layer board 120. The vertical plane where the axis of the second screw rod 124 is located is parallel to the vertical plane where the axis of the first screw rod 112 is located.

[0032] By driving the second motor 123, the second screw 124 is driven to rotate, so that the third layer plate 130 can be driven to slide relative to the second layer plate 120, changing the horizontal position of the third layer plate 130.

[0033] The fourth layer plate 140 is also in the shape of a square plate and is located above the third layer plate 130. Third sliders 131 are installed on both sides of the bottom of the fourth layer plate 140. Third tracks 132 are installed at the corresponding positions on both sides of the top of the third layer plate 130 corresponding to the two third sliders 131. The two third sliders 131 are respectively slidably arranged on the corresponding third tracks 132, so that the fourth layer plate 140 is slidably connected to the third layer plate 130.

[0034] Among them, the sliding direction of the fourth layer plate 140 relative to the third layer plate 130 is perpendicular to the sliding direction of the third layer plate 130 relative to the second layer plate 120. A third concave cavity is provided at the top of the third layer plate 130. The third motor 133 is embedded in the third concave cavity. The output end of the third motor 133 is connected to the third screw 134 through a coupling. A fourth mounting ear is installed at the bottom of the fourth layer plate 140. The third screw 134 is threadedly connected to the fourth mounting ear. The axis of rotation of the output end of the third motor 133 coincides with the axis of the third screw 134, and the axis direction of the third screw 134 is parallel to the sliding direction of the fourth layer plate 140 relative to the third layer plate 130.

[0035] By driving the third motor 133, the fourth layer plate 140 can be driven to slide relative to the third layer plate 130, changing the horizontal position of the fourth layer plate 140.

[0036] The mounting base 200 is in the shape of a square plate and is located above the fourth layer plate 140. A first rubber column 400 and a second rubber column 500 are connected between the mounting base 200 and the fourth layer plate 140. One end of the first rubber column 400 is installed at the middle position of the top of the fourth layer plate 140, and the other end is installed at the middle position of the bottom of the mounting base 200. One end of the second rubber column 500 is installed at the edge position of the top of the fourth layer plate 140, and the other end is installed at the edge position of the bottom of the mounting base 200.

[0037] In this embodiment, four second rubber columns 500 are provided. The four second rubber columns 500 are respectively distributed at the four corner positions of the fourth layer plate 140, and the four second rubber columns 500 are also respectively distributed at the four corner positions of the mounting base 200. It can be understood that the four second rubber columns 500 are arranged in a ring around the center line of the first rubber column 400, and the positions of the four second rubber columns 500 respectively correspond to the four side edges of the first rubber column 400. In other embodiments, three, five, six or more second rubber columns 500 can be provided, and the cross-sectional shape of the first rubber column 400 is an equilateral polygon, and the number of sides of the equilateral polygon is the same as the number of distributions of the second rubber columns 500.

[0038] The cross-section of the first rubber column 400 is an equilateral quadrilateral, and the cross-section of the second rubber column 500 is circular. The top of the second rubber column 500, that is, the end connected to the mounting base 200, is inclined towards the direction close to the first rubber column 400. And the center line of the second rubber column 500 is an arc in an "S" shape, and the tangents at both ends of the arc are respectively perpendicular to the plane of the fourth layer plate 140 and the plane of the mounting base 200. Among them, the second rubber column 500 is directly made into an arc-shaped structure, that is, in the static state, there is no stress inside the second rubber column 500. In other embodiments, the second rubber column 500 can be installed by elastic bending, that is, in the static state, the second rubber column 500 has an elastic deformation recovery force generated during bending, and multiple second rubber columns 500 pull the mounting base 200 together, making the mounting base 200 more stable relative to the fourth layer plate 140.

[0039] Specifically, large-sized limit columns 600 are integrally formed at both ends of the first rubber column 400 and the second rubber column 500. That is, the length and width dimensions of the limit column 600 connected to the first rubber column 400 are both larger than the length and width dimensions of the first rubber column 400, and the diameter dimensions of the limit column 600 connected to the second rubber column 500 are both larger than the diameter dimension of the second rubber column 500. The cross-section of the limit column 600 connected to the first rubber column 400 is also square, and the cross-section of the limit column 600 connected to the second rubber column 500 is circular.

[0040] Positioning columns 610 with dimensions smaller than the corresponding limit columns 600 are integrally formed on the side of the limit column 600 away from the first rubber column 400 or away from the second rubber column 500. That is, the length and width dimensions of the positioning column 610 connected to the first rubber column 400 are both smaller than the length and width dimensions of the limit column 600 connected to the first rubber column 400. The diameter dimensions of the positioning column 610 connected to the second rubber column 500 are both smaller than the length and width dimensions of the limit column 600 connected to the second rubber column 500. The cross-section of the positioning column 610 connected to the first rubber column 400 is square, and the cross-section of the positioning column 610 connected to the second rubber column 500 is circular.

[0041] Positioning holes 620 are respectively formed at corresponding positions on the fourth-layer board 140 and the mounting base 200, so that the positioning posts 610 at both ends of the first rubber column 400 and the second rubber column 500 can be inserted into the positioning holes 620 at corresponding positions, and the limiting post 600 plays a role in positioning and restriction, which can facilitate the stable connection of the first rubber column 400 and the second rubber column 500 between the fourth-layer board 140 and the mounting base 200. To improve the stability, glue can be filled between the side wall of the limiting post 600 and the side wall of the positioning hole.

[0042] When the stability of the chassis support is affected by external vibrations, the mounting base can perform shock absorption in multiple dimensions through the combined shock absorption effect of the first rubber column and the second rubber column, improving the stability of the radar, thereby reducing the situation where the radar data is inaccurate due to the influence of external vibration interference. Wide-band shock absorption effect: The high damping characteristics of rubber can effectively attenuate high-frequency vibrations (50 - 500 Hz) generated by vehicle engines and road bumps, and through rubber stiffness optimization, partially absorb low-frequency impacts (5 - 20 Hz) during vehicle start / stop. Strong environmental adaptability: High-quality silica gel or fluororubber can maintain elasticity in the range of -40°C to 120°C, adapting to extremely cold or high-temperature environments. In addition, the sealing structure of the device can effectively prevent water vapor and salt spray erosion, making it suitable for long-term outdoor use.

[0043] The radar 300 is installed on the top of the mounting base 200. Specifically, a fixing plate 210 is installed at the bottom of the radar 300 through bolts, and a quick-release locking mechanism is installed between the fixing plate 210 and the mounting base 200. The quick-release locking mechanism includes an insertion structure and a locking buckle 220. The insertion structure includes a plurality of insertion posts installed on the top of the mounting base 200, and the fixing plate 210 is provided with a plurality of through holes respectively for the corresponding insertion of the plurality of insertion posts, and the plurality of insertion posts and the plurality of through holes are arranged in one-to-one correspondence. A locking buckle 220 is installed on both sides of the top of the mounting base 200, and the locking buckle 220 is a quick-pressing buckle. Place the fixing plate 210 on the top of the mounting base 200, insert the insertion posts into the through holes, and quickly position and assemble the position of the fixing plate 210, that is, the fixing plate 210 is inserted and connected to the top of the mounting base 200, and then by operating the locking buckle 220, the locking buckle 220 presses the fixing plate 210 against the top of the mounting base 200, so that the radar 300 can be quickly installed on the mounting base 200. At the same time, it supports the quick replacement of different models of lidar (such as mechanical / MEMS solid-state radar). The device adopts a tightening design of the buckle, and the installation / dismantling can be completed without other tools, greatly reducing the debugging or maintenance time of the lidar. In vehicle maintenance, sensor replacement or emergencies, the lidar can be quickly relocated, avoiding complex operations from affecting the operation process.

[0044] An outer shell 102 is sleeved outside the second-layer board 120, and the outer shell 102 surrounds the outside of the third-layer board 130 and the fourth-layer board 140.

[0045] When the position where the first-layer board 110 is installed vibrates, the positions of the radar 300 are corrected by driving the first motor 111, the second motor 123, and the third motor 133, so that the accuracy of the data measured by the radar 300 can be improved. Moreover, the first rubber column 400 and the second rubber column 500 can generate acting forces opposite to the vibration direction, thereby achieving a preliminary shock-absorbing effect. It can be understood that multi-directional acceleration sensors, multi-dimensional angle sensors and other sensors can also be installed on the mounting base 200 to detect the vibration parameters at the position of the radar 300, calculate the required active shock-absorbing parameters through the controller, and regulate the driving parameters of the first motor 111, the second motor 123, and the third motor 133 according to the active shock-absorbing parameters to accurately correct the position of the radar 300.

[0046] The mechanical structure form of this embodiment is stable, has a wide range of uses and high feasibility. The key lies in that the first rubber column 400 and the second rubber column 500 can perform preliminary shock absorption on the lidar 300; driving the second motor 123 and the third motor 133 can perform further shock absorption and can adjust the horizontal position according to actual needs. Driving the first motor 111 can achieve a shock-absorbing effect and can also adjust the pitch angle of the shock-absorbing device base, so as to realize the installation of the whole on an inclined plane. At the same time, when a power failure occurs in the whole device, the motor shaft can lock the device to avoid complete failure of the shock-absorbing function.

[0047] While ensuring high-precision shock-absorbing performance, this device has the ability of multi-degree-of-freedom active adjustment to meet the vibration suppression requirements under different road conditions and improve the installation adaptability, so as to provide more stable and reliable environmental perception data for the autonomous driving system.

[0048] The embodiments of the present invention have been described in detail above with reference to the drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art.

Claims

1. A vehicle-mounted lidar shock absorber, characterized in that, Comprising: A chassis support, including a first layer board, a second layer board, a third layer board, and a fourth layer board that are distributed in sequence. The first layer board is rotatably connected to the second layer board. The third layer board is slidably disposed on the top of the second layer board. The fourth layer board is slidably disposed on the top of the third layer board along a direction perpendicular to the sliding direction of the third layer board. A horizontal displacement control mechanism, including a second motor, a third motor, a second screw installed at the output end of the second motor, and a third screw installed at the output end of the third motor. The second motor is installed on the second layer board. The second screw is threadedly connected to the third layer board. The third motor is installed on the third layer board. The third screw is threadedly connected to the fourth layer board. A pitch angle control mechanism, installed between the first layer board and the second layer board. The pitch angle control mechanism is used to adjust the swing angle of the second layer board relative to the first layer board.

2. The shock absorption device for vehicle-mounted lidar according to claim 1, characterized in that: The pitch angle control mechanism includes a first motor installed on the first layer board and a first screw installed at the output end of the first motor. A first slider threadedly connected to the first screw is slidably installed on the top of the first layer board. A connecting rod is rotatably installed at the top of the first slider. The other end of the connecting rod is rotatably installed at the bottom of the second layer board.

3. The shock absorption device for vehicle-mounted lidar according to claim 1, wherein: An installation base is provided on the top of the fourth layer board. A rubber shock absorption mechanism is also installed between the installation base and the fourth layer board. The rubber shock absorption mechanism includes a first rubber column and a plurality of second rubber columns. The two ends of the first rubber column are respectively connected to the center of the top of the fourth layer board and the center of the bottom of the installation base. The two ends of the second rubber column are respectively connected to the top of the fourth layer board and the bottom of the installation base. The plurality of second rubber columns are distributed around the center line of the first rubber column.

4. The shock absorption device for vehicle-mounted lidar according to claim 3, wherein: One end of the top of the second rubber column is inclined towards the first rubber column.

5. The shock absorption device for vehicle-mounted lidar according to claim 3, wherein: The cross-section of the first rubber column is an equilateral polygon. The number of the second rubber columns is the same as the number of sides of the equilateral polygon.

6. The shock-absorbing device for vehicle-mounted lidar according to claim 5, characterized in that: The positions of the second rubber columns correspond to the edges of the first rubber column.

7. The shock absorption device for vehicle-mounted lidar according to claim 3, wherein: Both ends of the first rubber column and the second rubber column are provided with relatively large limiting columns. One end of the limiting column away from the first rubber column or the second rubber column is connected with a positioning column smaller than the limiting column. The fourth layer board and the installation base are both provided with positioning holes for the corresponding positioning columns to be embedded.

8. The shock absorption device for vehicle-mounted lidar according to claim 3, wherein: The cross-section of the first rubber column is a quadrilateral; the cross-section of the second rubber column is a circle.

9. The shock absorption device for vehicle-mounted lidar according to claim 3, characterized in that: It further includes a quick-release locking mechanism and a radar. The radar is installed with a fixing plate. The quick-release locking mechanism is used to connect the fixing plate and the installation base. The quick-release locking mechanism includes an insertion structure between the fixing plate and the installation base. The quick-release locking mechanism further includes a lock catch. The lock catch is installed on the top of the installation base. The lock catch is used to press the fixing plate against the installation base.

10. The shock absorption device for vehicle-mounted lidar according to claim 1, characterized in that: A suction cup is installed at the bottom of the first layer board.

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