Multi-array-plane laser radar and use method thereof

Abstract

The invention discloses a multi-array-plane laser radar and a using method thereof, and relates to the field of laser radars, the multi-array-plane laser radar comprises an integrated shell, radar units arranged in the integrated shell, a ball head support installed in the integrated shell, the radar units installed at the end of the ball head support in an annular array, and an X-axis adjusting assembly installed on the X-axis of the ball head support, the X-axis adjusting assembly is used for driving the ball head support to rotate and adjust along the Y axis, the Y-axis adjusting assembly is installed on the Y axis of the ball head support, and the Y-axis adjusting assembly is used for rotating and adjusting the ball head support along the X axis. According to the invention, the integrated housing, the radar units, the ball head support, the X-axis adjusting assembly and the Y-axis adjusting assembly are cooperatively used, and under the action of the X-axis adjusting assembly and the Y-axis adjusting assembly, the angles of the multiple radar units in the same plane can be changed, so that the detection angles of the radar units are changed under the condition that the inclination angle of the integrated housing is not changed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser radar, in particular to a multi-array laser radar and a method for using the same. BACKGROUND

[0002] The shape and design of the multi-array laser radar are aimed at achieving efficient and accurate environmental scanning and data collection. The modular design of the system allows for adjustment and optimization according to different application requirements. By optimizing the layout of the laser transmitter and receiver, the scanning mechanism, and the data processing capability, the multi-array laser radar can provide accurate measurement and environmental perception functions in multiple fields.

[0003] The multi-array laser radar is usually composed of a shell, a laser transmitter array, a receiver array, a data processing unit, and a power module. The shell is used to mount and carry the laser transmitter array, the receiver array, the data processing unit, and the power module. Then the shell is directly installed at the designated position for operation.

[0004] The multi-array laser radar is applied in the fields of autonomous driving, intelligent transportation, topographic surveying, construction engineering, environmental monitoring, and unmanned aerial vehicles. After the shell of the multi-array laser radar is installed at the designated position, due to the factors of the fixed installation equipment, the radar array often deviates by a certain angle, which affects the accuracy of the measurement and detection range of the multi-array laser radar, thus having certain defects. SUMMARY

[0005] The purpose of the present application is to provide a multi-array laser radar and a method for using the same to solve the problems raised in the background.

[0006] To achieve the above purpose, the present application provides the following technical solution: a multi-array laser radar, comprising:

[0007] an integrated shell;

[0008] a radar unit arranged inside the integrated shell;

[0009] a ball head support installed inside the integrated shell, and the radar unit is arranged in a ring array at the end of the ball head support;

[0010] an X-axis adjustment assembly installed on the X-axis line of the ball head support, the X-axis adjustment assembly is used to drive the ball head support to rotate and adjust along the Y-axis line;

[0011] a Y-axis adjustment assembly installed on the Y-axis line of the ball head support, the Y-axis adjustment assembly is used to rotate and adjust the ball head support along the X-axis line.

[0012] Preferably, the ball head support comprises:

[0013] A connecting ball head is arranged inside the integrated shell;

[0014] A mounting plate is fixedly connected to the outside of the connecting ball head in a ring array, and the radar unit is fixedly mounted to the end of the mounting plate;

[0015] An integrated support is mounted inside the integrated shell, and the integrated support is linked with the X-axis adjusting assembly and the Y-axis adjusting assembly, respectively;

[0016] A first ball seat and a second ball seat are both fixedly mounted inside the integrated shell, and the connecting ball head is rotatably sleeved between the first ball seat and the second ball seat;

[0017] A laser sensor is mounted between the first ball seat and the connecting ball head.

[0018] Preferably, the Y-axis adjusting assembly comprises:

[0019] A linear motor is fixedly mounted inside a slot hole in the top of the mounting plate;

[0020] A docking slot is arranged on the integrated support, the mounting plate is located inside the docking slot, and the docking slot is arranged at an inclined angle;

[0021] A connecting frame is mounted to the output end of the linear motor, and the connecting frame is slidingly arranged inside the slot hole;

[0022] A fixed column is fixedly connected to the end of the connecting frame, the end of the fixed column is in the shape of a semicircle, an arc slot is arranged on the inner wall of the docking slot, and the center of the arc slot is located at the center of the connecting frame.

[0023] Preferably, the integrated shell comprises:

[0024] A base and a top cover, the top cover is arranged on the top of the base, and the top of the second ball seat is fixedly connected to the top cover;

[0025] A protective cover is clamped between the base and the top cover, and the protective cover corresponds to the radar unit;

[0026] A bottom plate is mounted inside the base, the bottom of the first ball seat is fixedly connected to the bottom plate, and the integrated support is mounted inside the base through the bottom plate.

[0027] Preferably, the integrated shell further comprises:

[0028] A support sleeve is arranged between the bottom plate and the top cover.

[0029] A positioning collar is fixedly connected to the top of the bottom plate, and the bottom of the outer wall of the supporting sleeve is slidingly sleeved with the positioning collar;

[0030] A positioning seat is fixedly connected to the inside of the top cover, and the top of the outer wall of the supporting sleeve is slidingly sleeved with the positioning seat;

[0031] A fixing bolt is arranged, and a bolt hole corresponding to the fixing bolt is arranged in the bottom of the base, and the top of the outer wall of the fixing bolt is threadedly connected with the positioning seat through the supporting sleeve.

[0032] Preferably, the integrated support comprises:

[0033] A first fixing frame is arranged, and a connecting hole is arranged in the top of the bottom plate, and the bottom of the outer wall of the first fixing frame is slidingly sleeved with the connecting hole;

[0034] A limiting plate is fixedly connected to the bottom of the first fixing frame, and the limiting plate is clamped between the bottom plate and the base;

[0035] A second fixing frame and a locking assembly are arranged, the second fixing frame is clamped to the top of the first fixing frame through the locking assembly, and the locking assembly is linked with the fixing column;

[0036] A positioning rod is arranged, and the top of the positioning rod is fixedly connected with the top cover, and the top of the second fixing frame is provided with a positioning groove, and the outer wall of the positioning rod is slidingly clamped with the inner cavity of the positioning groove.

[0037] Preferably, the locking assembly comprises:

[0038] A connecting block is fixedly connected to the bottom of the second fixing frame, and a connecting groove is arranged in the top of the first fixing frame, and the outer wall of the connecting block is slidingly clamped with the inner cavity of the connecting groove;

[0039] A bearing hole is arranged on one side of the first fixing frame;

[0040] A first fixing block is slidingly arranged in the top of the inner cavity of the bearing hole;

[0041] A locking rod is arranged, and one end of the locking rod is fixedly connected with the first fixing block, and a locking groove is arranged on one side of the connecting block, and one end of the outer wall of the locking rod is slidingly clamped with the inner cavity of the locking groove.

[0042] Preferably, the locking assembly further comprises:

[0043] A connecting plate is slidingly arranged in the inside of the bearing hole, and the bottom of the first fixing block is fixedly connected with the connecting plate;

[0044] The end of the button is fixedly connected with the connecting plate, and the middle of the one side of the button corresponds with the fixed column;

[0045] The sliding hole is arranged on the first fixed frame, and the outer wall of the button is slidably connected with the inner cavity of the sliding hole.

[0046] Preferably, the locking assembly further comprises:

[0047] The second fixed block is fixedly connected with the end of the bearing hole inner cavity;

[0048] The end of the guide rod is fixedly connected with the second fixed block;

[0049] The third fixed block is fixedly connected with the bottom of the connecting plate, and the third fixed block is slidably sleeved with the outside of the guide rod;

[0050] The fourth fixed block is fixedly connected with the bottom of the bearing hole inner wall;

[0051] The limiting spring is slidably sleeved with the outside of the guide rod, and the ends of the limiting spring are respectively extruded and attached to the fourth fixed block and the third fixed block.

[0052] The application also provides a use method of the multi-array laser radar, which comprises the following specific use steps:

[0053] Step one: when the radar unit inside the integrated shell is adjusted along the Y-axis, the linear motor on the X-axis adjustment assembly drives the connecting frame and the fixed column to move, the fixed column outside the connecting frame slides in the inclined butt joint groove on the integrated support, the connecting ball head can be rotated along the Y-axis, and the end of the fixed column on the Y-axis adjustment assembly slides along the arc surface of the butt joint groove, so that the radar unit is adjusted along the Y-axis;

[0054] Step two: when the radar unit inside the integrated shell is adjusted along the X-axis, the linear motor on the Y-axis adjustment assembly drives the connecting frame and the fixed column to move, the fixed column outside the connecting frame slides in the inclined butt joint groove on the integrated support, the connecting ball head can be rotated along the X-axis, and the end of the fixed column on the X-axis adjustment assembly slides along the arc surface of the butt joint groove, so that the radar unit is adjusted along the X-axis;

[0055] Step three: when the connecting ball head is disassembled, the linear motor on the X-axis adjusting assembly and the Y-axis adjusting assembly drives the connecting frame to move, the fixed column at the bottom of the connecting frame pushes the button to move, the button drives the locking rod to separate from the connecting block through the connecting plate and the first fixed block, the fixed bolt is disassembled, the top cover is taken off, the second ball seat is separated from the connecting ball head through the top cover, and then the second fixed frame at the top of the first fixed frame is taken off, and the connecting ball head is directly taken out.

[0056] Technical effects and advantages of the present application:

[0057] (1) The present application utilizes the cooperation of the integrated shell, the radar unit, the ball head support, the X-axis adjusting assembly and the Y-axis adjusting assembly, and under the action of the X-axis adjusting assembly and the Y-axis adjusting assembly, the angle of the multiple radar units in the same plane can be changed, so that the angle of the radar unit detection is changed without changing the inclination angle of the integrated shell, and the radar unit is operated at a specified angle;

[0058] (2) The present application utilizes the cooperation of the first fixed frame, the second fixed frame, the locking assembly, the X-axis adjusting assembly and the Y-axis adjusting assembly, the locking assembly can re-lock and position the first fixed frame and the second fixed frame, so as to ensure the stability of the assembly of the first fixed frame and the second fixed frame, and when the X-axis adjusting assembly and the Y-axis adjusting assembly adjust the radar unit to the maximum inclination angle, the X-axis adjusting assembly and the Y-axis adjusting assembly can also unlock the locking assembly, so as to facilitate the unlocking and disassembly of the first fixed frame and the second fixed frame. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0060] Figure 2 It is a schematic diagram of the internal structure of the bottom surface of the present application;

[0061] Figure 3 It is a schematic diagram of the internal structure of the side surface of the present application;

[0062] Figure 4 It is a schematic diagram of the internal structure of the side surface of the support sleeve of the present application;

[0063] Figure 5 It is a schematic diagram of the internal structure of the front surface of the mounting plate part of the present application;

[0064] Figure 6 It is a schematic diagram of the internal structure of the side surface of the first fixed frame of the present application;

[0065] Figure 7 It is a schematic diagram of the internal structure of the front surface of the first fixed frame of the present application.

[0066] In the figure: 1, integrated shell; 11, base; 12, top cover; 13, protective cover; 14, bottom plate; 15, support sleeve; 16, positioning collar; 17, positioning seat; 18, fixing bolt; 2, radar unit; 3, ball head support; 31, connecting ball head; 32, mounting plate; 33, integrated support; 331, first fixing frame; 332, second fixing frame; 333, limiting plate; 334, positioning rod; 335, locking assembly; 3351, connecting block; 3352, connecting plate; 3353, bearing hole; 3354, first fixing block; 3355, locking rod; 3356, button; 3357, second fixing block; 3358, guide rod; 3359, third fixing block; 33510, fourth fixing block; 33511, limiting spring; 34, first ball seat; 35, second ball seat; 36, laser sensor; 4, X-axis adjusting assembly; 5, Y-axis adjusting assembly; 51, linear motor; 52, butt joint groove; 53, connecting frame; 54, fixing column. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0068] The present application provides a method for Figures 1-7The multi-array laser radar shown includes an integrated shell 1, a radar unit 2, a ball head support 3, an X-axis adjusting assembly 4, and a Y-axis adjusting assembly 5. The radar unit 2 is arranged inside the integrated shell 1, and the ball head support 3 is installed inside the integrated shell 1. The radar unit 2 is installed in an annular array at the end of the ball head support 3. The radar unit 2 is composed of a laser emitter and a receiver. The laser emitter emits laser pulses, usually using near-infrared waves. These laser pulses will illuminate the target object. The receiver is used to receive the reflected laser signals. It is usually equipped with a high-sensitivity photodetector. The received laser signals are processed and analyzed to extract the distance, shape, and other information of the target, and converted into three-dimensional coordinate data. The laser emitter and receiver are existing mature products, and will not be described in detail here. The X-axis adjusting assembly 4 is installed on the X-axis of the ball head support 3. The X-axis adjusting assembly 4 is used to drive the ball head support 3 to rotate and adjust along the Y-axis. The Y-axis adjusting assembly 5 is installed on the Y-axis of the ball head support 3. The Y-axis adjusting assembly 5 is used to rotate and adjust the ball head support 3 along the X-axis. The X-axis adjusting assembly 4 and the Y-axis adjusting assembly 5 are made of the same material, so that the X-axis adjusting assembly 4 and the Y-axis adjusting assembly 5 can adjust the position of the ball head support 3 in the X-axis and Y-axis directions, thereby changing the horizontal angle of the multiple radar units 2 working inside the integrated shell 1.

[0069] Further, the ball head support 3 includes a connecting ball head 31, a mounting plate 32, an integrated support 33, a first ball seat 34, a second ball seat 35, and a laser sensor 36. The connecting ball head 31 is arranged inside the integrated shell 1. The mounting plate 32 is fixedly connected to the outside of the connecting ball head 31 in an annular array. The radar unit 2 is fixedly installed at the end of the mounting plate 32. Thus, by rotating the connecting ball head 31, the angle of the radar unit 2 can be changed through the mounting plate 32. The integrated support 33 is installed inside the integrated shell 1. The integrated support 33 is linked with the X-axis adjusting assembly 4 and the Y-axis adjusting assembly 5. The first ball seat 34 and the second ball seat 35 are fixedly installed inside the integrated shell 1. The connecting ball head 31 is rotatably sleeved between the first ball seat 34 and the second ball seat 35. The laser sensor 36 is installed between the first ball seat 34 and the connecting ball head 31. The laser sensor 36 can sense the angle of rotation of the connecting ball head 31, so that the data can be fed back to the control terminal in real time, and the position of the connecting ball head 31 can be adjusted in real time.

[0070] In particular, the Y-axis adjusting assembly 5 includes a linear motor 51, a butt joint groove 52, a connecting frame 53, and a fixed column 54. The top of the mounting plate 32 is provided with a slot hole. The linear motor 51 is fixedly installed inside the slot hole. Figure 2As shown, the two mounting plates 32 on the X-axis and Y-axis are each provided with a linear motor 51, and the two linear motors 51 on the X-axis and the two linear motors 51 on the Y-axis are synchronously moved in one direction during the moving operation. The docking groove 52 is provided on the integrated support 33, the mounting plate 32 is located inside the docking groove 52, the docking groove 52 is provided at an inclined angle, the connecting frame 53 is installed at the output end of the linear motor 51, the connecting frame 53 is slidingly arranged inside the slot hole, the end of the fixed column 54 is fixedly connected with the connecting frame 53, the end of the fixed column 54 is semispherical, the inner wall of the docking groove 52 is provided with an arc groove, and the center of the arc groove is located at the center of the connecting frame 53. Since the docking groove 52 is provided at an inclined angle, when the linear motor 51 drives the connecting frame 53 and the two fixed columns 54 to move, the mounting plate 32 can drive the connecting ball head 31 to rotate, so as to change the inclined angle of the connecting ball head 31. Since the top of the inner wall of the docking groove 52 has a certain curvature, when the mounting plate 32 rotates, the fixed column 54 correspondingly tilts, and since the angle of the connecting ball head 31 is limited, the end of the fixed column 54 can always be in close contact with the inner wall of the arc groove, thereby ensuring the stability of the position of the connecting ball head 31 and the mounting plate 32.

[0071] Specifically, the integrated shell 1 includes a base 11, a top cover 12, a protective cover 13, and a bottom plate 14. The top cover 12 is arranged on the top of the base 11, the top of the second ball seat 35 is fixedly connected with the top cover 12, the protective cover 13 is clamped between the base 11 and the top cover 12, the protective cover 13 corresponds to the radar unit 2, the bottom plate 14 is installed inside the base 11, the bottom of the first ball seat 34 is fixedly connected with the bottom plate 14, and the integrated support 33 is installed inside the base 11 through the bottom plate 14. The protective cover 13 can shield and protect the radar unit 2, and does not affect the normal operation of the radar unit 2.

[0072] Further, the integrated shell 1 further includes a supporting sleeve 15, a positioning sleeve ring 16, a positioning seat 17, and a fixing bolt 18. The supporting sleeve 15 is arranged between the bottom plate 14 and the top cover 12, the positioning sleeve ring 16 is fixedly connected to the top of the bottom plate 14, the bottom of the outer wall of the supporting sleeve 15 is slidingly sleeved with the positioning sleeve ring 16, the positioning seat 17 is fixedly connected to the inside of the top cover 12, the top of the outer wall of the supporting sleeve 15 is slidingly sleeved with the positioning seat 17, the bottom of the base 11 is provided with a bolt hole corresponding to the fixing bolt 18, and the top of the outer wall of the fixing bolt 18 is threadedly connected with the positioning seat 17 through the supporting sleeve 15. The fixing bolt 18 can fixedly connect the top cover 12, the bottom plate 14, and the base 11 under the action of the supporting sleeve 15. By disassembling the fixing bolt 18, the top cover 12, the bottom plate 14, and the base 11 can be disassembled and maintained.

[0073] Further, the integrated support 33 comprises a first fixing frame 331, a limiting plate 333, a second fixing frame 332, a locking assembly 335 and a positioning rod 334, the top of the bottom plate 14 is provided with a connecting hole, the bottom of the outer wall of the first fixing frame 331 is slidably connected with the connecting hole, the limiting plate 333 is fixedly connected to the bottom of the first fixing frame 331, the limiting plate 333 is clamped between the bottom plate 14 and the base 11, when the bottom plate 14 is disassembled, the first fixing frame 331 can be disassembled, the second fixing frame 332 is clamped to the top of the first fixing frame 331 through the locking assembly 335, the locking assembly 335 is linked with the fixed column 54, the top of the positioning rod 334 is fixedly connected with the top cover 12, the top of the second fixing frame 332 is provided with a positioning groove, the outer wall of the positioning rod 334 is slidably clamped in the inner cavity of the positioning groove, and the positioning rod 334 can improve the stability of the butt joint of the top cover 12 and the second fixing frame 332.

[0074] Especially, the locking assembly 335 comprises a connecting block 3351, a bearing hole 3353, a first fixing block 3354, a locking rod 3355, a connecting plate 3352, a button 3356 and a sliding hole, the connecting block 3351 is fixedly connected to the bottom of the second fixing frame 332, the top of the first fixing frame 331 is provided with a connecting groove, the outer wall of the connecting block 3351 is slidably clamped in the inner cavity of the connecting groove, and the connecting block 3351 can improve the stability of the butt joint of the second fixing frame 332 and the first fixing frame 331, the bearing hole 3353 is formed in one side of the first fixing frame 331, the first fixing block 3354 is slidably arranged at the top of the inner cavity of the bearing hole 3353, one end of the locking rod 3355 is fixedly connected with the first fixing block 3354, one side of the connecting block 3351 is provided with a locking groove, one end of the outer wall of the locking rod 3355 is slidably clamped in the inner cavity of the locking groove, the locking rod 3355 is clamped in the locking groove, so that the connecting block 3351 can be locked, thereby ensuring the stability of the installation of the second fixing frame 332 on the first fixing frame 331, the connecting plate 3352 is slidably arranged in the bearing hole 3353, the bottom of the first fixing block 3354 is fixedly connected with the connecting plate 3352, the end of the button 3356 is fixedly connected with the connecting plate 3352, the middle of one side of the button 3356 corresponds to the fixed column 54, the sliding hole is formed in the first fixing frame 331, and the outer wall of the button 3356 is slidably clamped in the inner cavity of the sliding hole, so that when the linear motor 51 drives the connecting frame 53 and the fixed column 54 to move and press the button 3356, the button 3356 can drive the connecting plate 3352, the first fixing block 3354 and the locking rod 3355 to move, so that the locking rod 3355 is separated from the connecting block 3351, and then the second fixing frame 332 can be disassembled.

[0075] Further, the locking assembly 335 further comprises a second fixed block 3357, a guide rod 3358, a third fixed block 3359, a fourth fixed block 33510 and a limiting spring 33511, the second fixed block 3357 is fixedly connected to the end of the inner cavity of the bearing hole 3353, the end of the guide rod 3358 is fixedly connected with the second fixed block 3357, the third fixed block 3359 is fixedly connected to the bottom of the connecting plate 3352, the third fixed block 3359 is slidingly sleeved on the outside of the guide rod 3358, under the action of the guide rod 3358 and the third fixed block 3359, the stability of the sliding of the connecting plate 3352 in the bearing hole 3353 can be ensured, the fourth fixed block 33510 is fixedly connected to the bottom of the inner wall of the bearing hole 3353, the limiting spring 33511 is slidingly sleeved on the outside of the guide rod 3358, and the end of the limiting spring 33511 is respectively extruded and attached to the fourth fixed block 33510 and the third fixed block 3359, as shown in FIG. Figure 7 The limiting spring 33511 can give the connecting plate 3352 an elastic extrusion force through one of the third fixed blocks 3359, so that the first fixed block 3354 and the locking rod 3355 have an elastic force towards the connecting block 3351, thereby ensuring the stability of the clamping of the locking rod 3355 and the connecting block 3351.

[0076] The application also provides a use method of the multi-array laser radar, which comprises the following specific use steps:

[0077] Step one: when the radar unit 2 inside the integrated shell 1 is adjusted along the Y-axis, the linear motor 51 on the X-axis adjustment assembly 4 drives the connecting frame 53 and the fixed column 54 to move, the fixed column 54 outside the connecting frame 53 slides in the inclined butt joint groove 52 on the integrated support 33, so that the connecting ball head 31 can rotate along the Y-axis, and the end of the fixed column 54 on the Y-axis adjustment assembly 5 slides along the arc surface of the butt joint groove 52, thereby adjusting the radar unit 2 along the Y-axis;

[0078] Step two: when the radar unit 2 inside the integrated shell 1 is adjusted along the X-axis, the linear motor 51 on the Y-axis adjustment assembly 5 drives the connecting frame 53 and the fixed column 54 to move, the fixed column 54 outside the connecting frame 53 slides in the inclined butt joint groove 52 on the integrated support 33, so that the connecting ball head 31 can rotate along the X-axis, and the end of the fixed column 54 on the X-axis adjustment assembly 4 slides along the arc surface of the butt joint groove 52, thereby adjusting the radar unit 2 along the X-axis;

[0079] Step three: when the connection ball head 31 is disassembled, the linear motor 51 on the X-axis adjusting assembly 4 and the Y-axis adjusting assembly 5 drives the connection frame 53 to move, the fixed column 54 at the bottom of the connection frame 53 pushes the button 3356 to move, the button 3356 drives the locking rod 3355 to separate from the connecting block 3351 through the connecting plate 3352 and the first fixed block 3354, the fixed bolt 18 is disassembled, the top cover 12 is removed, the top cover 12 drives the second ball seat 35 to separate from the connection ball head 31, then the second fixed frame 332 at the top of the first fixed frame 331 is removed, and the connection ball head 31 is directly taken out.

[0080] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing embodiments of the present application are described in detail, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included in the scope of protection of the present application.

Claims

1. A multi-faceted lidar, comprising: The utility model relates to an integrated radar system, which comprises: an integrated housing (1); a radar unit (2) arranged inside the integrated housing (1); a ball head support (3) mounted inside the integrated housing (1), wherein the radar unit (2) is arranged in a ring array at the end of the ball head support (3); an X-axis adjusting assembly (4) mounted on the X-axis of the ball head support (3), which is used to drive the ball head support (3) to rotate and adjust along the Y-axis; a Y-axis adjusting assembly (5) mounted on the Y-axis of the ball head support (3), which is used to rotate and adjust the ball head support (3) along the X-axis.

2. A multi-aspect lidar according to claim 1, wherein, The ball head support (3) comprises: a connecting ball head (31) arranged inside the integrated housing (1); a mounting plate (32) fixedly connected to the outside of the connecting ball head (31) in a ring array, wherein the radar unit (2) is fixedly mounted at the end of the mounting plate (32); an integrated support (33) mounted inside the integrated housing (1), wherein the integrated support (33) is linked with the X-axis adjusting assembly (4) and the Y-axis adjusting assembly (5) respectively; a first ball seat (34) and a second ball seat (35) both fixedly mounted inside the integrated housing (1), wherein the connecting ball head (31) is rotatably sleeved between the first ball seat (34) and the second ball seat (35); a laser sensor (36) mounted between the first ball seat (34) and the connecting ball head (31).

3. A multi-aspect lidar according to claim 2, wherein, The Y-axis adjusting assembly (5) comprises: a linear motor (51) fixedly mounted inside the groove hole in the top of the mounting plate (32); a butt joint groove (52) arranged on the integrated support (33), wherein the mounting plate (32) is located inside the butt joint groove (52), and the butt joint groove (52) is arranged at an inclined angle; a connecting frame (53) mounted at the output end of the linear motor (51), wherein the connecting frame (53) is slidably arranged inside the groove hole; a fixed column (54) fixedly connected with the connecting frame (53) at the end thereof, wherein the end of the fixed column (54) is semispherical, and the inner wall of the butt joint groove (52) is provided with an arc groove, and the center of the arc groove is located at the center of the connecting frame (53).

4. A multi-aspect lidar according to claim 2, wherein, The integrated housing (1) comprises: a base (11) and a top cover (12) arranged at the top of the base (11), wherein the top of the second ball seat (35) is fixedly connected with the top cover (12); a protective cover (13) clamped between the base (11) and the top cover (12), wherein the protective cover (13) corresponds to the radar unit (2). A bottom plate (14) is mounted inside the base (11), the bottom of the first ball seat (34) is fixedly connected with the bottom plate (14), and the integrated support (33) is mounted inside the base (11) through the bottom plate (14).

5. A multi-aspect lidar according to claim 4, wherein, The integrated shell (1) further comprises: A supporting sleeve (15) is arranged between the bottom plate (14) and the top cover (12); A positioning sleeve ring (16) is fixedly connected to the top of the bottom plate (14), and the bottom of the outer wall of the supporting sleeve (15) is slidably sleeved with the positioning sleeve ring (16); A positioning seat (17) is fixedly connected to the inside of the top cover (12), and the top of the outer wall of the supporting sleeve (15) is slidably sleeved with the positioning seat (17); A fixing bolt (18) is arranged on the bottom of the base (11), and a bolt hole corresponding to the fixing bolt (18) is arranged on the bottom of the base (11), and the top of the outer wall of the fixing bolt (18) is threadedly connected with the positioning seat (17) through the supporting sleeve (15).

6. A multi-aspect lidar according to claim 4, wherein, The integrated support (33) comprises: A first fixing frame (331) is arranged on the top of the bottom plate (14), and the bottom of the outer wall of the first fixing frame (331) is slidably sleeved with the connecting hole; A limiting plate (333) is fixedly connected to the bottom of the first fixing frame (331), and the limiting plate (333) is clamped between the bottom plate (14) and the base (11); A second fixing frame (332) and a locking assembly (335) are arranged on the top of the first fixing frame (331) through the locking assembly (335), and the locking assembly (335) is connected with the fixed column (54); A positioning rod (334) is fixedly connected to the top of the top cover (12), the top of the second fixing frame (332) is provided with a positioning groove, and the outer wall of the positioning rod (334) is slidably clamped in the inner cavity of the positioning groove.

7. A multi-aspect laser radar according to claim 6, wherein The locking assembly (335) comprises: A connecting block (3351) is fixedly connected to the bottom of the second fixing frame (332), the top of the first fixing frame (331) is provided with a connecting groove, and the outer wall of the connecting block (3351) is slidably clamped in the inner cavity of the connecting groove; A bearing hole (3353) is arranged on one side of the first fixing frame (331); A first fixing block (3354) is slidably arranged on the top of the inner cavity of the bearing hole (3353); One end of a locking rod (3355) is fixedly connected with the first fixing block (3354), one side of the connecting block (3351) is provided with a locking groove, and one end of the outer wall of the locking rod (3355) is slidably clamped in the inner cavity of the locking groove.

8. A multi-aspect lidar according to claim 7, wherein, The locking assembly (335) further comprises: A connecting plate (3352) is slidably arranged in the inside of the bearing hole (3353), and the bottom of the first fixing block (3354) is fixedly connected with the connecting plate (3352). The end of the button (3356) is fixedly connected with the connecting plate (3352), and the middle of one side of the button (3356) corresponds to the fixed column (54); The sliding hole is arranged on the first fixing frame (331), and the outer wall of the button (3356) is in sliding connection with the inner cavity of the sliding hole.

9. A multi-aspect lidar according to claim 8, wherein, The locking assembly (335) further comprises: The second fixed block (3357) is fixedly connected to the end of the inner cavity of the bearing hole (3353); The end of the guide rod (3358) is fixedly connected with the second fixed block (3357); The third fixed block (3359) is fixedly connected to the bottom of the connecting plate (3352), and the third fixed block (3359) is slidingly sleeved on the outside of the guide rod (3358); The fourth fixed block (33510) is fixedly connected to the bottom of the inner wall of the bearing hole (3353); The limiting spring (33511) is slidingly sleeved on the outside of the guide rod (3358), and the ends of the limiting spring (33511) are respectively in extrusion abutment with the fourth fixed block (33510) and the third fixed block (3359).

10. A method of using a multi-array lidar, the multi-array lidar implementing any of claims 1-9, wherein, The following specific steps are included: Step one: when the radar unit (2) inside the integrated shell (1) is adjusted along the Y-axis, the linear motor (51) on the X-axis adjustment assembly (4) drives the connecting frame (53) and the fixed column (54) to move, the fixed column (54) on the outside of the connecting frame (53) slides in the inclined butt joint groove (52) on the integrated support (33), so that the connecting ball head (31) can rotate along the Y-axis, and the end of the fixed column (54) on the Y-axis adjustment assembly (5) slides along the arc surface of the butt joint groove (52), so that the radar unit (2) is adjusted along the Y-axis; Step two: when the radar unit (2) inside the integrated shell (1) is adjusted along the X-axis, the linear motor (51) on the Y-axis adjustment assembly (5) drives the connecting frame (53) and the fixed column (54) to move, the fixed column (54) on the outside of the connecting frame (53) slides in the inclined butt joint groove (52) on the integrated support (33), so that the connecting ball head (31) can rotate along the X-axis, and the end of the fixed column (54) on the X-axis adjustment assembly (4) slides along the arc surface of the butt joint groove (52), so that the radar unit (2) is adjusted along the X-axis; Step three: when the connecting ball head (31) is disassembled, the linear motor (51) on the X-axis adjusting assembly (4) and the Y-axis adjusting assembly (5) drives the connecting frame (53) to move, so that the fixed column (54) at the bottom of the connecting frame (53) pushes the button (3356) to move, the button (3356) drives the locking rod (3355) to separate from the connecting block (3351) through the connecting plate (3352) and the first fixed block (3354), then the fixed bolt (18) is disassembled, the top cover (12) is removed, the top cover (12) drives the second ball seat (35) to separate from the connecting ball head (31), then the second fixed frame (332) at the top of the first fixed frame (331) is removed, and the connecting ball head (31) is directly taken out.

Images