Radar device and sweeping robot

Abstract

The utility model relates to the technical field of sweeping robots, and provides a radar device and a sweeping robot, which comprises a laser radar, a base, a support seat, a motor and a swing arm. Wherein the supporting seat and the base are in sliding connection in the first direction, the laser radar is installed on the side, back to the base, of the supporting seat, the supporting seat comprises a first supporting plate and a second supporting plate, and the first supporting plate and the second supporting plate are arranged in the first direction in a spaced mode and relatively fixed; the motor is installed on the base, the output end of the motor is used for driving the swing arm to rotate, the swing arm can selectively abut against the first supporting plate or the second supporting plate, the supporting base can move in the first direction relative to the base, and the laser radar is in communication connection with the motor. Thus, the laser radar can obtain surrounding environment information, the motor is controlled to be started through the environment information, then the distance between the supporting base and the base is adjusted, obstacles can be avoided, and the laser radar is located at the optimal position, namely the highest point, as much as possible.

Description

Technical Field

[0001] The utility model relates to the technical field of sweeping robots, and in particular to a radar device and a sweeping robot. Background Art

[0002] A sweeping robot, also known as an automatic cleaning machine, smart vacuum cleaner, robot vacuum cleaner, etc., is a type of smart home appliance that can automatically complete floor cleaning in the room with the help of artificial intelligence.

[0003] Existing sweeping robots mostly use lidar to obtain environmental information and plan driving routes based on this information to avoid obstacles. However, existing sweeping robots face the following two problems:

[0004] 1. To enable the robot vacuum to reach under a sofa or bed for cleaning, the LiDAR is positioned too low to the ground, resulting in a narrow range of environmental information. This often leads the robot vacuum to run into dead ends when faced with complex environments.

[0005] 2. In order for the sweeping robot to plan its driving route relatively intelligently, the laser radar needs to be set at a higher position to obtain a larger range of environmental information. As a result, the sweeping robot cannot enter gaps such as the bottom of the sofa for cleaning, resulting in sanitary blind spots.

[0006] Therefore, there is an urgent need for a radar device and a sweeping robot to solve the above technical problems. Utility Model Content

[0007] The purpose of the utility model is to provide a radar device and a sweeping robot, which can avoid height-limited obstacles on the way according to environmental information, adjust the height of the laser radar from the ground, and maintain its optimal acquisition range.

[0008] To achieve this purpose, the present invention adopts the following technical solutions:

[0009] Radar installation, including:

[0010] LiDAR;

[0011] base;

[0012] A support base, wherein the support base is slidably connected to the base along a first direction, the laser radar is mounted on a side of the support base facing away from the base, and the support base includes a first support plate and a second support plate, wherein the first support plate and the second support plate are spaced apart and relatively fixed in the first direction;

[0013] The motor and the swing arm are installed on the base, and the output end of the motor is used to drive the swing arm to rotate. The swing arm can selectively abut against the first support plate or the second support plate, so that the support seat can be displaced along the first direction relative to the base. The laser radar is communicatively connected to the motor.

[0014] As a preferred technical solution of the above-mentioned radar device, one end of the above-mentioned swing arm is fixed to the output end of the above-mentioned motor, and the other end is equipped with a rotating wheel, and the above-mentioned swing arm contacts the above-mentioned first support plate or the second support plate through the above-mentioned rotating wheel.

[0015] As a preferred technical solution of the above-mentioned radar device, the above-mentioned base is provided with a guide column, and the above-mentioned support seat includes a shaft sleeve, and the above-mentioned shaft sleeve is slidably sleeved on the above-mentioned guide column.

[0016] As a preferred technical solution of the above-mentioned radar device, it further includes an elastic member, and the above-mentioned elastic member is installed on the above-mentioned base, so that the above-mentioned support base always has a tendency to move away from the above-mentioned base along the above-mentioned first direction.

[0017] As a preferred technical solution of the above-mentioned radar device, the above-mentioned first support plate is located on the side of the above-mentioned second support plate facing away from the above-mentioned base, the above-mentioned first support plate is provided with a touch switch, the above-mentioned swing arm can trigger the above-mentioned touch switch, and the above-mentioned touch switch is communicatively connected to the above-mentioned motor.

[0018] As a preferred technical solution of the above-mentioned radar device, it also includes a mounting frame, and connecting ears are provided on opposite sides of the above-mentioned motor. The above-mentioned connecting ears are fixed to the above-mentioned mounting frame, and the above-mentioned mounting frame is fixed to the above-mentioned base.

[0019] As a preferred technical solution for the above-mentioned radar device, the above-mentioned mounting frame is provided with a slot, the above-mentioned motor is at least partially inserted into the above-mentioned slot, the above-mentioned mounting frame forms a plurality of connection points on the above-mentioned base, and the above-mentioned connection points are symmetrically distributed around the above-mentioned slot.

[0020] As a preferred technical solution of the above-mentioned radar device, heat dissipation holes are provided on the side walls of the above-mentioned slot.

[0021] As a preferred technical solution of the above-mentioned radar device, the above-mentioned first support plate and / or the above-mentioned second support plate are provided with an avoidance groove, and the above-mentioned swing arm can pass through the above-mentioned avoidance groove along the above-mentioned first direction.

[0022] A sweeping robot is also provided, comprising a body and the above-mentioned radar device, wherein the above-mentioned radar device is installed on the above-mentioned body.

[0023] Beneficial effects of the utility model:

[0024] The utility model provides a radar device, comprising a laser radar, a base, a support base, a motor, and a swing arm. The support base is slidably connected to the base along a first direction, the laser radar is mounted on a side of the support base facing away from the base, and the support base includes a first support plate and a second support plate, the first support plate and the second support plate being spaced apart and relatively fixed in the first direction. A motor is mounted on the base, the output end of the motor being used to drive the swing arm to rotate, and the swing arm can selectively abut against the first support plate or the second support plate, so that the support base can be displaced in the first direction relative to the base. The laser radar is communicatively connected to the motor.

[0025] Specifically, the laser radar is used to obtain information about the surrounding environment and can communicate with the motor to control the start / stop state of the motor and the rotation direction of the output end of the motor; the base is used to be fixedly installed with the vehicle body, the motor and the base are relatively fixed, the swing arm is fixed with the output end of the motor, the swing arm can rotate with the rotation of the output end of the motor, the rotation axis of the swing arm is parallel to the second direction, and the first direction is perpendicular to the second direction; the support seat is used to install the laser radar, the support seat and the base are movably connected, and the two can move relative to each other along the first direction, the support seat includes a first support plate and a second support plate, the swing arm is at least partially located between the first support plate and the second support plate, and can selectively abut against the first support plate or the second support plate to drive the support seat. In this way, the laser radar can obtain information about the surrounding environment and control the start of the motor through the environmental information, thereby adjusting the distance between the support seat and the base, avoiding obstacles, and making the laser radar as close to its optimal position as possible, that is, the highest point. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0027] Figure 1 This is a schematic diagram of the structure of the radar device provided by the embodiment of the utility model Figure 1 ;

[0028] Figure 2 This is a schematic diagram of the structure of the radar device provided by the embodiment of the utility model Figure 2 ;

[0029] Figure 3 This is a schematic diagram of the assembly of the base and the support base provided in an embodiment of the present utility model;

[0030] Figure 41 is a top view of a radar device (excluding a laser radar) provided by an embodiment of the present utility model;

[0031] Figure 5 This is a schematic structural diagram of a mounting bracket provided by an embodiment of the present utility model;

[0032] Figure 6 It is a schematic diagram of the assembly of the motor and the mounting bracket provided in an embodiment of the present utility model.

[0033] In the picture:

[0034] X, first direction; Y, second direction; Z, third direction;

[0035] 100. LiDAR;

[0036] 200, base; 210, guide column; 220, second support column;

[0037] 300, support base; 310, first support plate; 311, avoidance groove; 320, second support plate; 330, shaft sleeve; 340, touch switch;

[0038] 400, motor; 410, connecting ear;

[0039] 500, swing arm; 510, rotating wheel;

[0040] 600, elastic parts;

[0041] 700, mounting frame; 710, slot; 720, heat dissipation hole; 730, first support column; 740, limit plate. DETAILED DESCRIPTION

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of its components.

[0043] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0044] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0045] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0046] The utility model provides a sweeping robot, comprising a body and a radar device, wherein the radar device is installed on the body.

[0047] like Figures 1 to 6 As shown, the present invention provides a radar device, including a laser radar 100, a base 200, a support base 300, a motor 400 and a swing arm 500. The support base 300 is slidably connected to the base 200 along a first direction X. The laser radar 100 is installed on the side of the support base 300 facing away from the base 200. The support base 300 includes a first support plate 310 and a second support plate 320. The first support plate 310 and the second support plate 320 are spaced apart and relatively fixed in the first direction X. The motor 400 is installed on the base 200. The output end of the motor 400 is used to drive the swing arm 500 to rotate. The swing arm 500 can selectively abut against the first support plate 310 or the second support plate 320, so that the support base 300 can be displaced relative to the base 200 along the first direction X. The laser radar 100 is communicatively connected to the motor 400.

[0048] Specifically, the laser radar 100 is used to obtain surrounding environmental information and can communicate with the motor 400 to control the start / stop state of the motor 400 and the rotation direction of the output end of the motor 400; the base 200 is used to be fixedly installed with the vehicle body, the motor 400 is relatively fixed to the base 200, the swing arm 500 is fixed to the output end of the motor 400, and the swing arm 500 can rotate with the rotation of the output end of the motor 400, and the rotation axis of the swing arm 500 is parallel to the second direction Y, and the first direction X is perpendicular to the second direction Y; the support base 300 is used to install the laser radar 100, the support base 300 is movably connected to the base 200, and the two can move relative to each other along the first direction X, the support base 300 includes a first support plate 310 and a second support plate 320, the swing arm 500 is at least partially located between the first support plate 310 and the second support plate 320, and the swing arm 500 can selectively abut against the first support plate 310 or the second support plate 320 to drive the support base 300.

[0049] For example, the first direction X is the vertical direction, the second direction Y is the horizontal direction, and the first support plate 310 is located above the second support plate 320. When the swing arm 500 points to the 12 o'clock direction, the support base 300 and the laser radar 100 are at their highest point in the projection along the second direction Y. When the swing arm 500 points to the 6 o'clock direction, the support base 300 and the laser radar 100 are at their lowest point. During use, the higher the vertical position of a typical laser radar 100, the wider the range of environmental information it can acquire. At this time, the support base 300 is vertically away from the base 200, and the swing arm 500 abuts against the side of the first support plate 310 facing the second support plate 320, vertically supporting the support base 300 to maintain its vertical height. When the laser radar 100 detects that there is a height-limited obstacle in the direction of travel and the laser radar 100 is unable to pass through at its current position, the motor 400 is commanded to start and the swing arm 500 rotates toward the 6 o'clock direction. Without the support of the swing arm 500, the support base 300 and the laser radar 100 have a tendency to move downward in the vertical direction under the action of gravity. The swing arm 500 abuts against the side of the second support plate 320 toward the first support plate 310 and presses the entire support base 300 downward in the vertical direction, so that The laser radar 100 is lowered to avoid the height limit obstacle. After passing the height limit, the laser radar 100 commands the motor 400 to start, so that the swing arm 500 rotates toward 12 o'clock. At this time, the swing arm 500 is in contact with the first support plate 310. The swing arm 500 can slide relative to the first support plate 310 along the third direction Z and can lift the support base 300 in the vertical direction, so that the laser radar 100 is reset to the highest position. The motor 400 is in standby, keeping the swing arm 500 supporting the support base 300.

[0050] The first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

[0051] In this way, the laser radar 100 can obtain the surrounding environmental information and control the start of the motor 400 through the environmental information, thereby adjusting the distance between the support base 300 and the base 200, avoiding obstacles, and making the laser radar 100 as close to its optimal position as possible, that is, the highest point.

[0052] Optionally, one end of the swing arm 500 is fixed to the output end of the motor 400 , and a rotating wheel 510 is installed at the other end, and the swing arm 500 contacts the first support plate 310 or the second support plate 320 through the rotating wheel 510 .

[0053] In this way, the sliding friction between the swing arm 500 and the first support plate 310 or the second support plate 320 can be converted into rolling friction through the rotating wheel 510, thereby reducing the friction coefficient.

[0054] Optionally, the rotating wheel 510 and the swing arm 500 may be fixedly connected or rotatably connected.

[0055] Optionally, the base 200 is provided with a guide column 210 , and the support seat 300 includes a shaft sleeve 330 , and the shaft sleeve 330 is slidably sleeved on the guide column 210 .

[0056] For example, the axes of the guide column 210 and the sleeve 330 are parallel and parallel to the first direction X, so that the relative movement direction between the support seat 300 and the base 200 can be regulated, and the friction force along the third direction Z between the swing arm 500 and the first support plate 310 or the second support plate 320 can be offset by the radial limitation between the guide column 210 and the sleeve 330.

[0057] Illustratively, in this embodiment, the sleeve 330 is fixed to the first support plate 310 , and the first support plate 310 is used to install the laser radar 100 .

[0058] Exemplarily, a plurality of guide posts 210 are provided in the second direction Y and / or the third direction Z, and the bushings 330 are sleeved on the guide posts 210 in a one-to-one correspondence, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0059] Optionally, the radar device further includes an elastic member 600 , which is mounted on the base 200 , so that the support base 300 always has a tendency to move away from the base 200 along the first direction X.

[0060] Schematically, in this embodiment, the first direction X is a vertical direction, the elastic member 600 is a spring, the spring is at least partially sleeved on the guide column 210, the sleeve 330 can abut against the spring, and the spring can deform in the first direction X. The spring always gives the support seat 300 a force pointing along the first direction X away from the base 200. The spring can share part of the weight of the support seat 300 and the laser radar 100 for the swing arm 500. When the support seat 300 needs to be lowered, the swing arm 500 needs to press against the end face of the second support plate 320 facing the first support plate 310 to press the support seat 300 and the spring downward.

[0061] Optionally, the first support plate 310 is located on the side of the second support plate 320 facing away from the base 200 . The first support plate 310 is provided with a touch switch 340 . The swing arm 500 can trigger the touch switch 340 . The touch switch 340 is communicatively connected to the motor 400 .

[0062] For example, the first direction X is the vertical direction, and as a projection of the second direction Y, when the swing arm 500 points to the 12 o'clock position, the support base 300 is at its highest position, i.e., the laser radar 100 is at its optimal position. When the swing arm 500 points to the 6 o'clock position, the support base 300 is at its lowest position. When the swing arm 500 points to the 12 o'clock position, the swing arm 500 can trigger the touch switch 340, which in turn commands the motor 400 to stop rotating, causing the swing arm 500 to remain at the 12 o'clock position, maintaining the laser radar 100 in the optimal position. This prevents the motor 400 from driving the swing arm 500 to continue rotating after passing the 12 o'clock position, causing the laser radar 100 to miss its optimal position.

[0063] Furthermore, the first support plate 310 is provided with a stop plate, and the touch switch 340 is provided on the stop plate. When the support base 300 needs to move from the lowest position to the highest position, the motor 400 rotates counterclockwise, and the swing arm 500 passes through the 6 o'clock-3 o'clock-12 o'clock positions in sequence. When the support base 300 needs to move from the highest position to the lowest position, the motor 400 rotates clockwise, and the swing arm 500 passes through the 12 o'clock-3 o'clock-6 o'clock positions in sequence. When the swing arm 500 points to the 12 o'clock position, the contact point between the swing arm 500 and the first support plate 310 is recorded as point A, and A is a fixed point. During the movement of the support base 300 along the first direction X, the contact area between the swing arm 500 and the first support plate 310 is always located on the right side of point A, and the stop plate is set on the left side of point A. After completing a height limit obstacle avoidance, the laser radar 100 needs to be lifted to the optimal position again. After the motor 400 is started, the swing arm 500 rotates with the output end of the motor 400. When a tangential force occurs between the swing arm 500 and the stop plate in the rotation direction, the swing arm 500 triggers the touch switch 340, the motor 400 stops rotating, and the stop plate limits the swing arm 500 from continuing to rotate toward the 11 o'clock direction under inertia.

[0064] Optionally, the radar device further includes a mounting bracket 700 , and connecting ears 410 are provided on opposite sides of the motor 400 . The connecting ears 410 are fixed to the mounting bracket 700 , and the mounting bracket 700 is fixed to the base 200 .

[0065] Exemplarily, the end cover of the motor 400 is provided with two connecting ears 410 radially protruding from the output end of the motor 400, and the mounting frame 700 is provided with two first support columns 730 protruding along the second direction Y, and the two first support columns 730 are respectively connected to the two connecting ears 410 by threaded fasteners.

[0066] Preferably, the two connecting ears 410 are symmetrically formed on both radial sides of the output end of the motor 400 .

[0067] Optionally, the mounting frame 700 is provided with a slot 710, and the motor 400 is at least partially inserted into the slot 710. The mounting frame 700 forms multiple connection points with the base 200, and the connection points are symmetrically distributed around the slot 710. In this way, the mounting frame 700 is fixed to the base 200 via multiple connection points, which can improve the connection reliability and relative stability between the mounting frame 700 and the base 200. The plug-in relationship between the motor 400 and the mounting frame 700 can limit the relative movement of the motor 400 with respect to the mounting frame 700, thereby maintaining the relative positional relationship between the motor 400, the base 200, and the support base 300.

[0068] Exemplarily, the motor 400 and the mounting bracket 700 are plugged in along the second direction Y, that is, the plugging direction of the motor 400 and the mounting bracket 700 is parallel to the axis of the output end of the motor 400, and the limiting plate 740 protruding from the mounting bracket 700 encloses a slot 710 for installing the motor 400. The limiting plate 740 radially limits the relative movement of the motor 400 and the mounting bracket 700 at the output end of the motor 400, and the base 200 protrudes with four second support columns 220 along the second direction Y. The four second support columns 220 are all fixed to the mounting bracket 700 by threaded fasteners, and the four second support columns 220 are symmetrically distributed around the slot 710.

[0069] Furthermore, the main housing of the motor 400 is inserted into the slot 710 , and the end cover of the motor 400 and the housing body of the motor 400 are fixed in the second direction Y.

[0070] It should be noted that after the motor 400 is started, it generally vibrates along the radial direction of its output shaft, which is common knowledge.

[0071] Optionally, a heat dissipation hole 720 is provided on the side wall of the slot 710 . With this arrangement, the motor 400 can dissipate heat through the heat dissipation hole 720 .

[0072] Optionally, the first support plate 310 and / or the second support plate 320 is provided with an avoidance groove 311 , and the swing arm 500 can pass through the avoidance groove 311 along the first direction X.

[0073] Exemplarily, in this embodiment, the first support plate 310 is located on the side of the second support plate 320 facing away from the base 200 in the first direction X, and the first support plate 310 and the second support plate 320 are both provided with an avoidance groove 311, that is, the first support plate 310 is provided with a first avoidance groove, and the second support plate 320 is provided with a second avoidance groove. The first avoidance groove and the second avoidance groove are both U-shaped grooves, whose depth direction is the second direction Y and whose length direction is the first direction X, and the first avoidance groove penetrates the first support plate 310 in the first direction X, and the second avoidance groove penetrates the second support plate 320 in the first direction X. When the support base 300 is at the highest point, that is, the farthest point from the base 200 along the first direction X, the output end of the motor 400 and part of the swing arm 500 are located in the second avoidance groove. When the support base 300 is at the lowest point, that is, the closest point to the base 200 along the first direction X, the output end of the motor 400 and part of the swing arm 500 are located in the first avoidance groove. In this way, the support base 300 avoids the swing arm 500 and the output end of the motor 400 in the second direction Y, which can reduce the overall size of the radar device in the second direction Y.

[0074] Furthermore, the above are merely preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A radar device, characterized in that include: LiDAR (100); Base (200); A support base (300), wherein the support base (300) is slidably connected to the base (200) along a first direction (X), the laser radar (100) is installed on a side of the support base (300) facing away from the base (200), and the support base (300) comprises a first support plate (310) and a second support plate (320), wherein the first support plate (310) and the second support plate (320) are spaced apart and relatively fixed in the first direction (X); A motor (400) and a swing arm (500), wherein the motor (400) is mounted on the base (200), and the output end of the motor (400) is used to drive the swing arm (500) to rotate, and the swing arm (500) can selectively abut against the first support plate (310) or the second support plate (320), so that the support seat (300) can be displaced relative to the base (200) along the first direction (X), and the laser radar (100) is communicatively connected to the motor (400).

2. The radar device according to claim 1, wherein One end of the swing arm (500) is fixed to the output end of the motor (400), and the other end is provided with a rotating wheel (510), and the swing arm (500) contacts the first support plate (310) or the second support plate (320) via the rotating wheel (510).

3. The radar device according to claim 1, wherein The base (200) is provided with a guide column (210), and the support seat (300) includes a shaft sleeve (330), and the shaft sleeve (330) is slidably sleeved on the guide column (210).

4. The radar device according to claim 1, wherein It also includes an elastic member (600), which is installed on the base (200) so that the support seat (300) always has a tendency to move away from the base (200) along the first direction (X).

5. The radar device according to claim 1, wherein The first support plate (310) is located on a side of the second support plate (320) facing away from the base (200); the first support plate (310) is provided with a touch switch (340); the swing arm (500) can trigger the touch switch (340); and the touch switch (340) is communicatively connected to the motor (400).

6. The radar device according to claim 1, wherein It also includes a mounting frame (700), and connecting ears (410) are provided on opposite sides of the motor (400), the connecting ears (410) are fixed to the mounting frame (700), and the mounting frame (700) is fixed to the base (200).

7. The radar device according to claim 6, characterized in that The mounting frame (700) is provided with a slot (710), the motor (400) is at least partially inserted into the slot (710), and the mounting frame (700) forms a plurality of connection points on the base (200), and the connection points are symmetrically distributed around the slot (710).

8. The radar device according to claim 7, characterized in that The side wall of the slot (710) is provided with a heat dissipation hole (720).

9. The radar device according to claim 1, wherein The first support plate (310) and / or the second support plate (320) are provided with an avoidance groove (311), and the swing arm (500) can pass through the avoidance groove (311) along the first direction (X).

10. A sweeping robot, characterized in that: The vehicle comprises a vehicle body and the radar device according to any one of claims 1 to 9, wherein the radar device is mounted on the vehicle body.

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