Unmanned vehicle integrated with millimeter wave laser radar camera algorithm

Abstract

The utility model discloses an unmanned vehicle integrating millimeter wave laser radar camera algorithm fusion, comprising an unmanned vehicle main body, the bottom end of the unmanned vehicle main body is provided with driving wheels, two sides of the unmanned vehicle main body are provided with anti-collision plates, one side of the top end of the unmanned vehicle main body is provided with a control cabinet, the top end of the control cabinet is provided with a radar antenna, and the top end of the radar antenna is provided with a camera. A supporting seat is fixedly connected to one side of the top end of the unmanned vehicle body, a supporting frame is movably mounted at the top end of the supporting seat, a mounting head is fixedly connected to the top end of the supporting frame, cameras are mounted at the two ends of the mounting head, and a driving motor is mounted in the supporting seat. According to the unmanned vehicle integrated with the millimeter wave laser radar camera algorithm, the driving wheel can be brushed through the cleaning brush on the cleaning plate, the brushing position of the cleaning plate can be adjusted, the telescopic rod drives the cleaning plate to be adjusted and then is fixed through the positioning bolt, and the structure achieves the function of facilitating cleaning; the problem that cleaning is not convenient is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle integrating millimeter-wave laser radar and camera algorithms. Background Art

[0002] Unmanned vehicles refer to unmanned vehicles. Unmanned vehicles are widely used in many fields. Among them, the most common are industrial inspection unmanned vehicles. Industrial inspection unmanned vehicles can automatically patrol and monitor the factory area to ensure the intensity of monitoring.

[0003] After searching, according to an unmanned vehicle inspection device disclosed in application number CN202121342986.2, the article mentioned that "it includes an unmanned inspection vehicle body, a top plate located on the unmanned inspection vehicle body, a lighting lamp located at one end of the top plate, a camera located on the top of the top plate and a movable wheel located at the bottom of the unmanned inspection vehicle body, and protective parts are provided at both ends of the unmanned inspection vehicle body." During the inspection process, the unmanned inspection vehicle inspection device in the above application may have some impurities and foreign objects adhered to the wheels under the vehicle when it is moving, causing the wheels to be unable to move normally, and it is inconvenient for the staff to clean the wheels in time.

[0004] Unmanned vehicles that integrate millimeter-wave lidar, camera and algorithm fusion are urgently needed to solve the technical defects raised in the above technologies. Utility Model Content

[0005] The purpose of the utility model is to provide an unmanned vehicle that integrates millimeter-wave laser radar and camera algorithms to solve the problem of inconvenience in cleaning mentioned in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an unmanned vehicle integrating millimeter-wave laser radar camera algorithm fusion, comprising an unmanned vehicle body, a driving wheel is installed at the bottom end of the unmanned vehicle body, anti-collision plates are installed on both sides of the unmanned vehicle body, a control cabinet is installed on one side of the top of the unmanned vehicle body, a radar antenna is installed on the top of the control cabinet, a support seat is fixedly connected to one side of the top of the unmanned vehicle body, a support frame is movably installed on the top of the support seat, a mounting head is fixedly connected to the top of the support frame, cameras are installed at both ends of the mounting head, a driving motor is installed inside the support seat, a fixing seat is installed at both ends of the unmanned vehicle body, telescopic rods are fixedly connected to both sides of the fixing seat, a cleaning plate is fixedly connected to one side of the telescopic rod, a cleaning brush is fixedly connected to one side of the cleaning plate, a positioning bolt is installed at the front end of the telescopic rod, and a sensor is arranged at the top of the fixing seat.

[0007] Preferably, the cleaning plate is arranged on one side of the driving wheel, and one side of the cleaning brush is in contact with the outside of the driving wheel.

[0008] Preferably, four groups of telescopic rods are provided, and one end of the positioning bolt is embedded in the telescopic rod.

[0009] Preferably, a telescopic block is fixedly connected between the anti-collision plate and the unmanned vehicle body, and a connecting spring is fixedly connected to the outside of the telescopic block.

[0010] Preferably, two groups of anti-collision plates are provided, and a protective pad is fixedly connected to one side of the anti-collision plate.

[0011] Preferably, a millimeter-wave radar, a laser radar and a camera module are installed inside the control cabinet respectively.

[0012] Preferably, the output end of the driving motor is fixedly connected to the bottom end of the supporting frame.

[0013] Preferably, a mounting sleeve is installed between the mounting head and the camera, a fixing bolt is installed inside the mounting sleeve, and one end of the fixing bolt is embedded in the mounting head.

[0014] Compared with the prior art, the beneficial effects of the utility model are: the unmanned vehicle integrating the millimeter wave laser radar camera algorithm not only realizes the function of easy cleaning and easy adjustment, but also realizes the function of anti-collision;

[0015] (1) By providing a fixing seat, a telescopic rod, a positioning bolt, a cleaning brush and a cleaning plate, when the unmanned vehicle is walking and inspecting, the driving wheel may be adhered to some stones or impurities. In order to avoid the driving wheel being blocked, the surface of the driving wheel can be cleaned during walking. The cleaning brush on the cleaning plate can clean the driving wheel. The cleaning position of the cleaning plate is adjustable. The telescopic rod drives the cleaning plate to adjust and then fix it with the positioning bolt. This structure realizes the function of easy cleaning.

[0016] (2) By providing a support seat, a support frame, a camera, a mounting head, a mounting sleeve and a fixing bolt, the support frame on the support seat can drive the camera to adjust the camera angle. During adjustment, the driving motor drives the support frame to rotate and adjust, and the camera on the support frame can move synchronously accordingly. The camera can be removed from the mounting head. When removing, first unscrew the fixing bolt, and then remove the mounting sleeve from the camera to complete the removal. This structure realizes the function of easy adjustment;

[0017] (3) By providing an anti-collision plate, a protective pad, a telescopic block and a connecting spring, the anti-collision plate can protect the main body of the unmanned vehicle. When the main body of the unmanned vehicle is scratched during driving, the anti-collision plates on both sides of the main body of the unmanned vehicle can first contact the impact object. The protective pad on the anti-collision plate can improve the protective effect. The telescopic block and the connecting spring on the anti-collision plate have a buffering force. This structure realizes the function of facilitating anti-collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view cross-sectional structural schematic diagram of the utility model;

[0019] Figure 2 This is a schematic diagram of the front view structure of the cleaning plate of the utility model;

[0020] Figure 3 For the utility model Figure 1 The enlarged structural diagram at A in the middle;

[0021] Figure 4 It is a front view structural diagram of the camera of the present utility model.

[0022] In the figure: 1. driving wheel; 2. fixing seat; 3. unmanned vehicle body; 4. sensor; 5. anti-collision plate; 6. control cabinet; 7. radar antenna; 8. support seat; 9. support frame; 10. camera; 11. mounting head; 12. driving motor; 13. telescopic rod; 14. positioning bolt; 15. cleaning brush; 16. cleaning plate; 17. protective pad; 18. telescopic block; 19. connecting spring; 20. mounting sleeve; 21. fixing bolt. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Example 1: Please refer to Figure 1-4 , an unmanned vehicle integrating millimeter-wave laser radar camera algorithm fusion, including an unmanned vehicle body 3, a driving wheel 1 is installed at the bottom of the unmanned vehicle body 3, anti-collision plates 5 are installed on both sides of the unmanned vehicle body 3, a control cabinet 6 is installed on one side of the top of the unmanned vehicle body 3, a radar antenna 7 is installed on the top of the control cabinet 6, a support seat 8 is fixedly connected to one side of the top of the unmanned vehicle body 3, a support frame 9 is movably installed on the top of the support seat 8, a mounting head 11 is fixedly connected to the top of the support frame 9, cameras 10 are installed at both ends of the mounting head 11, a driving motor 12 is installed inside the support seat 8, a fixing seat 2 is installed at both ends of the unmanned vehicle body 3, telescopic rods 13 are fixedly connected to both sides of the fixing seat 2, a cleaning plate 16 is fixedly connected to one side of the telescopic rod 13, a cleaning brush 15 is fixedly connected to one side of the cleaning plate 16, a positioning bolt 14 is installed at the front end of the telescopic rod 13, a sensor 4 is arranged on the top of the fixing seat 2, and a millimeter-wave radar, a laser radar and a camera module are respectively installed inside the control cabinet 6;

[0025] The cleaning plate 16 is arranged on one side of the driving wheel 1, one side of the cleaning brush 15 contacts the outside of the driving wheel 1, the telescopic rod 13 is provided with four groups, and one end of the positioning bolt 14 is embedded in the inside of the telescopic rod 13;

[0026] Specifically, Figure 1 and Figure 2 As shown, the cleaning brush 15 on the cleaning plate 16 can clean the driving wheel 1, and the cleaning position of the cleaning plate 16 is adjustable. The telescopic rod 13 drives the cleaning plate 16 to be adjusted and then fixed with the positioning bolt 14. Then, the cleaning brush 15 can continue to clean the driving wheel 1 during its rotation and movement.

[0027] Embodiment 2: A telescopic block 18 is fixedly connected between the anti-collision plate 5 and the unmanned vehicle body 3, and a connecting spring 19 is fixedly connected to the outside of the telescopic block 18. The anti-collision plate 5 is provided with two groups, and a protective pad 17 is fixedly connected to one side of the anti-collision plate 5;

[0028] Specifically, Figure 1 and Figure 3 As shown, the anti-collision plates 5 on both sides of the unmanned vehicle body 3 can first contact the impact object, the protective pads 17 on the anti-collision plates 5 can improve the protective effect, the telescopic blocks 18 and the connecting springs 19 on the anti-collision plates 5 have buffering force, and the connecting springs 19 can improve the rebound and reset effect after the impact.

[0029] Embodiment 3: The output end of the driving motor 12 is fixedly connected to the bottom end of the support frame 9, a mounting sleeve 20 is installed between the mounting head 11 and the camera 10, a fixing bolt 21 is installed inside the mounting sleeve 20, and one end of the fixing bolt 21 is embedded inside the mounting head 11;

[0030] Specifically, Figure 1 and Figure 4 As shown, the unmanned vehicle body 3 can use the camera 10 to monitor the inspected road surface. The camera 10 has an adjustable shooting angle. During adjustment, the driving motor 12 drives the support frame 9 to rotate and adjust, and the camera 10 on the support frame 9 can move synchronously therewith. The camera 10 can be disassembled and removed from the mounting head 11. When disassembling, first unscrew the fixing bolt 21, and then remove the mounting sleeve 20 from the camera 10 to complete the disassembly.

[0031] Working principle: When the utility model is in use, the driving wheel 1 at the bottom of the unmanned vehicle body 3 can drive it to walk and inspect. During the inspection, the camera 10 on the top of the unmanned vehicle body 3 can perform inspection and monitoring. The millimeter wave radar and laser radar installed on the unmanned vehicle body 3 can assist its walking and inspection. The anti-collision plate 5 can protect the unmanned vehicle body 3. When the unmanned vehicle body 3 is scratched during driving, the anti-collision plates 5 on both sides of the unmanned vehicle body 3 can first contact the impact object. The protective pads 17 on the anti-collision plates 5 can improve the protective effect. The driving motor 12 drives the support frame 9 to rotate Adjustment, the camera 10 on the support frame 9 can move synchronously therewith, the camera 10 can be disassembled and removed from the mounting head 11, and the fixing bolt 21 is first unscrewed during disassembly, and then the mounting sleeve 20 is removed from the camera 10 to complete the disassembly. In order to avoid the driving wheel 1 from being blocked, the surface of the driving wheel 1 can be cleaned during walking, and the cleaning brush 15 on the cleaning plate 16 can clean the driving wheel 1. The cleaning position of the cleaning plate 16 is adjustable, and the telescopic rod 13 drives the cleaning plate 16 to be adjusted and then fixed with the positioning bolt 14. This structure realizes the function of easy cleaning.

[0032] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. An unmanned vehicle integrating a millimeter wave laser radar and a camera algorithm, comprising an unmanned vehicle body (3), characterized in that: A driving wheel (1) is installed at the bottom of the unmanned vehicle body (3), anti-collision plates (5) are installed on both sides of the unmanned vehicle body (3), a control cabinet (6) is installed on one side of the top of the unmanned vehicle body (3), a radar antenna (7) is installed on the top of the control cabinet (6), a support seat (8) is fixedly connected to one side of the top of the unmanned vehicle body (3), a support frame (9) is movably installed on the top of the support seat (8), a mounting head (11) is fixedly connected to the top of the support frame (9), and the mounting head (11) is Cameras (10) are installed at both ends, a driving motor (12) is installed inside the support seat (8), fixed seats (2) are installed at both ends of the unmanned vehicle body (3), telescopic rods (13) are fixedly connected to both sides of the fixed seat (2), a cleaning plate (16) is fixedly connected to one side of the telescopic rod (13), a cleaning brush (15) is fixedly connected to one side of the cleaning plate (16), a positioning bolt (14) is installed at the front end of the telescopic rod (13), and a sensor (4) is arranged at the top end of the fixed seat (2).

2. The unmanned vehicle integrating millimeter wave laser radar and camera algorithm fusion according to claim 1 is characterized in that: The cleaning plate (16) is arranged on one side of the driving wheel (1), and one side of the cleaning brush (15) is in contact with the outside of the driving wheel (1).

3. The unmanned vehicle integrating millimeter wave laser radar and camera algorithm fusion according to claim 1 is characterized in that: The telescopic rods (13) are provided in four groups, and one end of the positioning bolt (14) is embedded in the interior of the telescopic rod (13).

4. The unmanned vehicle integrating millimeter wave laser radar and camera algorithm fusion according to claim 1 is characterized in that: A telescopic block (18) is fixedly connected between the anti-collision plate (5) and the unmanned vehicle body (3), and a connecting spring (19) is fixedly connected to the outside of the telescopic block (18).

5. The unmanned vehicle integrating millimeter wave laser radar and camera algorithm fusion according to claim 1 is characterized in that: The anti-collision plates (5) are provided in two groups, and a protective pad (17) is fixedly connected to one side of the anti-collision plates (5).

6. The unmanned vehicle integrating millimeter wave laser radar and camera algorithm fusion according to claim 1 is characterized in that: A millimeter wave radar, a laser radar and a camera module are respectively installed inside the control cabinet (6).

7. The unmanned vehicle integrating millimeter wave laser radar and camera algorithm fusion according to claim 1 is characterized in that: The output end of the driving motor (12) is fixedly connected to the bottom end of the support frame (9).

8. The unmanned vehicle integrating millimeter wave laser radar and camera algorithm fusion according to claim 1 is characterized in that: A mounting sleeve (20) is installed between the mounting head (11) and the camera (10), a fixing bolt (21) is installed inside the mounting sleeve (20), and one end of the fixing bolt (21) is embedded inside the mounting head (11).

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