Steerable laser radar and unmanned vehicle

Abstract

The utility model belongs to the field of laser radars, and discloses a steerable laser radar and an unmanned vehicle, and the steerable laser radar comprises a radar body, a bogie, a fixed frame and a fastener. The radar body is installed on a bogie and can rotate along with rotation of the bogie. One end of the fixing frame is rotatably connected with the bogie so as to adjust the relative angle of the bogie and the fixing frame, and therefore the irradiation range of the radar body can be adjusted. And the other end of the fixing frame is used for being fixed on an external mounting surface, so that the steerable laser radar can be stably mounted on a chassis of the unmanned vehicle or other external mounting surfaces. In order to ensure that the bogie and the fixing frame can be kept stable after being adjusted to the needed angle and cannot deviate due to vehicle vibration or external impact, the fastener is connected to the bogie and the fixing frame, the relative rotation angle of the bogie and the fixing frame can be locked through the fastening effect of the fastener, and therefore the bogie and the fixing frame can be fixed. Therefore, the radar body is always irradiated in a required angle range.

Description

Technical Field

[0001] The utility model belongs to the technical field of lidar, and more specifically, relates to a steerable lidar and an autonomous vehicle. Background Art

[0002] In the field of autonomous vehicle technology, lidar, as a key sensing component, undertakes core tasks such as detecting surrounding obstacles, constructing a road environment model, assisting path planning and decision-making. Its performance and flexibility are directly related to the vehicle's environmental perception ability and driving safety. However, in the prior art, the lidar system installed on an autonomous vehicle often has limitations such as a fixed irradiation angle range and inconvenient adjustment, which to a certain extent restricts the adaptability and intelligence level of the vehicle in a complex and changeable road environment. Summary of the Utility Model

[0003] The purpose of the embodiments of this application is to provide a steerable lidar and an autonomous vehicle to solve the technical problem of inconvenient adjustment of the lidar viewing angle range existing in the prior art.

[0004] To achieve the above object, the technical solution adopted in this application is:

[0005] Provide a steerable lidar, including:

[0006] A radar body;

[0007] A bogie, on which the radar body is installed;

[0008] A fixing frame, one end of which is rotatably connected to the bogie, and the other end is used for fixing on an external mounting surface;

[0009] A fastener, connected to the bogie and the fixing frame, and the fastener is used to lock the relative rotation angle between the bogie and the fixing frame.

[0010] As a further improvement of the above technical solution:

[0011] Optionally, it includes a fastening shaft, one end of which is threadedly connected to one of the bogie and the fixing frame, and the other end of the fastening shaft is rotatably connected to the other of the bogie and the fixing frame.

[0012] Optionally, one of the bogie and the fixing frame is provided with a plurality of limiting holes, and the limiting holes are arranged at intervals along the circumferential direction of the fastening shaft; one end of the fastener is connected to the other of the bogie and the fixing frame, and the other end of the fastener is movably connected to the limiting hole.

[0013] Optionally, the limiting hole is an arc-shaped hole.

[0014] Optionally, the bogie includes a flat top and long hook portions located at both ends of the flat top. The flat top and the long hook portions form a C-shaped frame structure. The fixing frame is disposed facing the flat top, and the radar body is mounted inside the two long hook portions.

[0015] Optionally, through holes are further provided on the long hook portions.

[0016] Optionally, the fixing frame includes a bottom plate portion and vertical plate portions provided at both ends of the bottom plate portion. The bottom plate portion is disposed facing the bogie. The vertical plate portions are further provided with convex ear portions extending outward. The bottom plate portion, the vertical plate portions, and the convex ear portions are perpendicular to each other.

[0017] An autonomous vehicle includes a vehicle body and the steerable lidar described above.

[0018] As a further improvement of the above technical solution:

[0019] Optionally, the number of the steerable lidars is at least four, and each steerable lidar is respectively mounted at each vertex angle of the chassis of the vehicle body.

[0020] Compared with the prior art, the beneficial effects of the present utility model are:

[0021] The present application provides a steerable lidar, including a radar body, a bogie, a fixing frame, and a fastener. Among them, the radar body, as a key sensing component, undertakes tasks such as detecting surrounding obstacles, constructing a road environment model, and assisting path planning, providing data support for the decision-making of autonomous vehicles. The radar body is mounted on the bogie and can rotate following the rotation of the bogie. One end of the fixing frame is rotatably connected to the bogie to adjust the relative angle between the bogie and the fixing frame, thereby realizing the adjustment of the irradiation range of the radar body. The other end of the fixing frame is used to be fixed on an external mounting surface, so as to stably mount the steerable lidar on the chassis of an autonomous vehicle or other external mounting surfaces. To ensure that the bogie and the fixing frame can remain stable after being adjusted to the required angle and will not shift due to vehicle vibration or external impact, the fastener is connected to the bogie and the fixing frame. Through the fastening action of the fastener, the relative rotation angle between the bogie and the fixing frame can be locked, thereby ensuring that the radar body always irradiates within the required angle range. Description of the Drawings

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 is a three-dimensional structural schematic diagram of the steerable lidar of the present application;

[0024] Figure 2 is a schematic diagram of the radar irradiation range when the steerable lidar of the present application is installed on an autonomous vehicle.

[0025] Among them, the reference numerals in the drawings are as follows:

[0026] 1, radar body; 2, bogie;

[0027] 21, flat top; 22, long hook part;

[0028] 23, through hole; 3, fixing frame;

[0029] 31, bottom plate part; 32, vertical plate part;

[0030] 33, convex ear part; 4, fastener;

[0031] 5, fastening shaft; 6, limiting hole;

[0032] 7, chassis. Detailed implementation manners

[0033] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clear, the following further details the present application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0035] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application 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 therefore should not be construed as a limitation to the present application.

[0036] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0037] Unless otherwise defined, all technical terms used hereinafter have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of the present utility model.

[0038] As Figure 1 shown, the present application provides a steerable lidar, which includes a radar body 1, a bogie 2, a fixed frame 3, and a fastener 4. Among them, the radar body 1, as a key sensing element, undertakes tasks such as detecting surrounding obstacles, constructing a road environment model, and assisting path planning, providing data support for the decision-making of driverless vehicles. The radar body 1 is installed on the bogie 2 and can rotate following the rotation of the bogie 2. One end of the fixed frame 3 is rotatably connected to the bogie 2 to adjust the relative angle between the bogie 2 and the fixed frame 3, thereby realizing the adjustment of the irradiation range of the radar body 1. The other end of the fixed frame 3 is used to be fixed on an external mounting surface so as to stably mount the steerable lidar on the chassis of a driverless vehicle or other external mounting surfaces. To ensure that the bogie 2 and the fixed frame 3 can remain stable after being adjusted to the required angle and will not shift due to vehicle vibration or external impact, the fastener 4 is connected to the bogie 2 and the fixed frame 3. Through the fastening action of the fastener 4, the relative rotation angle of the bogie 2 and the fixed frame 3 can be locked, thereby ensuring that the radar body 1 always irradiates within the required angular range.

[0039] As Figure 1As shown, in an embodiment of the present application, the steerable lidar includes a fastening shaft 5. One end of the fastening shaft 5 is threadedly connected to one of the bogie 2 and the fixing bracket 3, and the other end of the fastening shaft 5 is rotatably connected to the other of the bogie 2 and the fixing bracket 3. When the fastening shaft 5 is tightened to achieve a fastening connection with one of the bogie 2 and the fixing bracket 3, it effectively acts as a locking mechanism to firmly lock the relative position between the bogie 2 and the fixing bracket 3, thereby ensuring that the radar body 1 always irradiates within the required angular range. On the contrary, when it is necessary to adjust the irradiation range of the radar body 1, simply loosen the fastening shaft 5 to make the connection between it and the bogie 2 or the fixing bracket 3 loose. At this time, the bogie 2 and the fixing bracket 3 can rotate flexibly around the fastening shaft 5 to achieve the adjustment of the irradiation angle. After the adjustment is completed, tighten the fastening shaft 5 again to quickly restore the locked state and ensure that the radar body 1 continues to work stably.

[0040] As Figure 1 shown, in an embodiment of the present application, a plurality of limit holes 6 are provided on one of the bogie 2 and the fixing bracket 3, and the limit holes 6 are arranged at intervals along the circumferential direction of the fastening shaft 5; one end of the fastener 4 is connected to the other of the bogie 2 and the fixing bracket 3, and the other end of the fastener 4 is movably connected to the limit hole 6. The function of the limit hole 6 is to limit the rotation amplitude of the bogie 2, effectively avoiding the problem that the scanning range of the radar body 1 deviates from the predetermined target area due to excessive rotation. The fastener 4 can specifically be a fastening screw. When the fastening screw is tightened to achieve a fastening connection with one of the bogie 2 and the fixing bracket 3, it effectively acts as a locking mechanism to firmly lock the relative position between the bogie 2 and the fixing bracket 3, thereby ensuring that the radar body 1 always irradiates within the required angular range. On the contrary, when it is necessary to adjust the irradiation range of the radar body 1, simply loosen the fastening screw to make the connection between it and the bogie 2 or the fixing bracket 3 loose. At this time, the bogie 2 and the fixing bracket 3 can rotate flexibly around the fastening shaft 5 to achieve the adjustment of the irradiation angle. After the adjustment is completed, tighten the fastening screw again to quickly restore the locked state and ensure that the radar body 1 continues to work stably.

[0041] As Figure 1 shown, in an embodiment of the present application, the limit hole 6 is an arc-shaped hole to correspond to the movement path of the fastener 4.

[0042] As Figure 1 shown, in an embodiment of the present application, the bogie 2 includes a flat top 21 and long hook portions 22 located at both ends of the flat top 21. The flat top 21 and the long hook portions 22 form a C-shaped frame structure. The fixing bracket 3 is arranged facing the flat top 21, and the radar body 1 is installed inside the two long hook portions 22.

[0043] As Figure 1As shown, in an embodiment of the present application, a through hole 23 is further provided on the long hook portion 22. The through hole 23 serves as a preset line channel, allowing necessary connection components such as cables and data lines to pass through, thereby realizing the docking between the radar body 1 and an external control or power system. Secondly, the through hole 23 can also reduce the weight of the long hook portion 22, alleviating the burden of installation and maintenance.

[0044] As Figure 1 shown, in an embodiment of the present application, the fixing frame 3 includes a bottom plate portion 31 and vertical plate portions 32 provided at both ends of the bottom plate portion 31. The bottom plate portion 31 is disposed facing the bogie 2. The vertical plate portions 32 are further provided with convex ear portions 33 extending outward. The bottom plate portion 31, the vertical plate portions 32, and the convex ear portions 33 are perpendicular to each other. The convex ear portions 33 are further provided with a plurality of through holes to facilitate fastening to an external mounting surface using fasteners.

[0045] The present application further provides an autonomous vehicle, including a vehicle body and the steerable lidar of the above embodiment. Since the autonomous vehicle has the steerable lidar of the above embodiment, it also has the advantages of the steerable lidar of the above embodiment.

[0046] As Figure 2 shown, in an embodiment of the present application, the number of steerable lidars is at least four. Each steerable lidar is respectively installed at each vertex angle of the chassis 7 of the vehicle body. By adjusting the irradiation range of each steerable lidar, the irradiation range can cover the four main directions (i.e., front, rear, left, and right) of the vehicle body, reducing the monitoring blind area, enabling the autonomous vehicle to comprehensively perceive and accurately judge the surrounding environment.

[0047] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A steerable lidar, characterized in that, Comprising: A radar body (1); A bogie (2), on which the radar body (1) is mounted; A fixing frame (3), one end of which is rotatably connected to the bogie (2), and the other end is for fixing on an external mounting surface; A fastener (4), connected to the bogie (2) and the fixing frame (3), and the fastener (4) is used to lock the relative rotation angle between the bogie (2) and the fixing frame (3).

2. The steerable lidar according to claim 1, characterized in that, Comprising a fastening shaft (5), one end of the fastening shaft (5) is threadedly connected to one of the bogie (2) and the fixing frame (3), and the other end of the fastening shaft (5) is rotatably connected to the other of the bogie (2) and the fixing frame (3).

3. The steerable lidar according to claim 2, wherein One of the bogie (2) and the fixing frame (3) is provided with a plurality of limit holes (6), and the limit holes (6) are arranged at intervals in the circumferential direction of the fastening shaft (5); one end of the fastener (4) is connected to the other of the bogie (2) and the fixing frame (3), and the other end of the fastener (4) is movably connected to the limit hole (6).

4. The steerable lidar according to claim 3, wherein, The limit hole (6) is an arc-shaped hole.

5. The steerable lidar according to any one of claims 1 to 4, characterized in that, The bogie (2) includes a flat top (21) and long hook parts (22) located at both ends of the flat top (21), the flat top (21) and the long hook parts (22) form a C-shaped frame structure, the fixing frame (3) is arranged facing the flat top (21), and the radar body (1) is mounted inside the two long hook parts (22).

6. The steerable lidar according to claim 5, characterized in that, The long hook part (22) is further provided with a through hole (23).

7. The steerable lidar according to any one of claims 1 to 4, characterized in that, The fixing frame (3) includes a bottom plate part (31) and vertical plate parts (32) arranged at both ends of the bottom plate part (31), the bottom plate part (31) is arranged facing the bogie (2), the vertical plate parts (32) are further provided with convex ear parts (33) extending outward, and the bottom plate part (31), the vertical plate parts (32) and the convex ear parts (33) are perpendicular to each other.

8. An autonomous vehicle, characterized in that, Comprising a vehicle body and a steerable lidar as described in any one of claims 1 to 7.

9. The driverless vehicle according to claim 8, wherein, The number of the steerable lidars is at least four, and each of the steerable lidars is respectively mounted at each vertex angle of the chassis of the vehicle body.

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