CN109733296B - Visual device based on environment perception of unmanned automobile - Google Patents
Visual device based on environment perception of unmanned automobile Download PDFInfo
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- CN109733296B CN109733296B CN201811644047.6A CN201811644047A CN109733296B CN 109733296 B CN109733296 B CN 109733296B CN 201811644047 A CN201811644047 A CN 201811644047A CN 109733296 B CN109733296 B CN 109733296B
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Abstract
The invention belongs to the technical field of unmanned automobiles, and particularly relates to a visual device based on environment perception of an unmanned automobile, which comprises the unmanned automobile, a mounting seat and a camera assembly, wherein the camera assembly is fixed on the unmanned automobile through the mounting seat and comprises a shell, a rotary seat and a visual camera, the shell is rotatably connected above the rotary seat, the visual camera is positioned in the shell, the top of the shell is provided with a conical cover, and the outer wall of the shell is fixed with a rain shielding plate; be equipped with the dash board in the outside of vision camera, can protect the splash of raindrop to a certain extent through the dash board, simultaneously, the top of casing has the toper cover, can reduce the raindrop and directly hit the impact vibrations that cause at the casing top, reduces the unstable factor that causes because the electrical connection of natural environment reason to components and parts in the equipment to a certain extent.
Description
Technical Field
The invention belongs to the technical field of unmanned automobiles, and particularly relates to a visual device based on environment perception of an unmanned automobile.
Background
The unmanned vehicle senses the road environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the vehicle to reach a preset target, senses the surrounding environment of the vehicle by using a vehicle-mounted sensor, and controls the steering and the speed of the vehicle according to the road, vehicle position and obstacle information obtained by sensing, so that the vehicle can safely and reliably run on the road, integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode identification and intelligent control technology, is an important mark for measuring the national research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.
The camera is the key part that machine vision system acquireed the image, and unmanned technique has very strong dependence to the vision camera, through camera identification signal lamp, carries out the image processing technique, draws out the information that will through the algorithm, and when the car was gone in rainy day weather, the environment led to the fact very big influence to the camera, very big unmanned potential safety hazard that has caused.
Disclosure of Invention
The invention aims to provide a visual device based on environment perception of an unmanned automobile, which aims to solve the problem of potential safety hazard in rainy days during driving.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a vision device based on unmanned vehicle environment perception, includes unmanned vehicle, mount pad and camera subassembly, the camera subassembly passes through the mount pad to be fixed on the unmanned vehicle, the camera subassembly includes casing, swivel mount and vision camera, the casing rotates to be connected in the top of swivel mount, the vision camera is located the inside of casing, the top of casing has the conical cover, the outer wall of casing is fixed with the dash board, the dash board is located the top of vision camera, the last lens piece that has of vision camera, the outside sliding connection of lens piece has the cleaning film, the inside of casing is equipped with cleans the motor, clean the motor with clean through the transfer line transmission connection between the film, clean the film including support chassis, cleaning brush and transparent film, support chassis is the arc, the inside of support chassis has the transparent film, be fixed with on the transparent film the brush cleaner, vision camera and clean motor and external power electric connection.
Preferably, the transmission rod comprises a threaded sleeve and a screw rod, the threaded sleeve is in threaded connection with the screw rod, the threaded sleeve is fixed on the cleaning film, and the screw rod is fixed at the output end of the cleaning motor.
Preferably, the width of support chassis is greater than the diameter of lens piece, the brush cleaner is the arrow form and distributes one side of transparent film.
Preferably, be equipped with main control unit among the unmanned vehicle, main control unit includes that the reservation cleans the module, be equipped with in the casing and clean the controller, clean the controller and include clean motor, motor just reverse module and frequency setting module, the reservation cleans the module and connects on the frequency setting module, the motor just reverse module is connected the output of frequency setting module, it connects to clean the motor the output of motor just reverse module.
Preferably, the bottom of the shell is provided with a gear ring, a steering motor is fixed inside the rotary seat, a gear is fixed at the output end of the steering motor, and the gear is in meshed connection with the gear ring.
Preferably, the bottom of the swivel base is provided with a seat foot, and the seat foot and the mounting seat are fixedly connected through a screw.
Preferably, a signal cable is connected to the visual camera and is located on the outer wall of the shell.
Compared with the prior art, the invention has the beneficial effects that:
1. the rain shielding plate is arranged on the outer side of the visual camera, rain drops can be protected to a certain extent through the rain shielding plate, meanwhile, the top of the shell is provided with the conical cover, impact vibration caused by the fact that rain drops directly impact the top of the shell can be reduced, and unstable factors caused by electrical connection of components in the equipment due to natural environment can be reduced to a certain extent;
2. the cleaning film is arranged on the outer side of the visual camera and consists of a supporting framework, a cleaning brush and a transparent film, the lens sheet can be cleaned through the cleaning brush on the transparent film, water drops attached to the surface of the lens sheet are removed, good visual conditions are realized, and safe driving can be kept under the rainy condition;
3. the cleaning film can be controlled to slide on the surface of the lens sheet by the cleaning motor and the transmission rod, the blinking action of animals is simulated, the cleaning time is short, the influence on vision is small, and the efficient cleaning effect is achieved, so that the safety of vehicle driving can be improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a camera assembly according to the present invention;
FIG. 3 is a schematic view of a ring gear configuration of the present invention;
FIG. 4 is a schematic view of a sweeping membrane according to the present invention;
FIG. 5 is a control schematic block diagram of the present invention;
in the figure: 1. an unmanned vehicle; 2. a mounting seat; 3. a camera assembly; 31. a housing; 311. a conical cover; 312. a flashing; 313. a signal cable; 32. rotating; 321. a seat leg; 33. a vision camera; 331. lens sheets; 34. a ring gear; 4. a sweeping controller; 41. cleaning a motor; 411. a transmission rod; 42. a motor forward and reverse rotation module; 43. a frequency setting module; 44. cleaning the membrane; 441. a support framework; 442. cleaning with a brush; 443. a transparent film; 5. a steering motor; 51. a gear; 6. a main controller; 61. and reserving a cleaning module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a vision device based on environment perception of an unmanned automobile comprises the unmanned automobile 1, a mounting seat 2 and a camera assembly 3, wherein the camera assembly 3 is fixed on the unmanned automobile 1 through the mounting seat 2, the camera assembly 3 comprises a shell 31, a rotary seat 32 and a vision camera 33, the shell 31 is rotatably connected above the rotary seat 32 and can adjust the rotation of the shell 31 according to the rotation direction of the automobile to increase the acquisition capability of the front vision data, the vision camera 33 is positioned in the shell 31 and can play a role in protecting the vision camera 33, a conical cover 311 is arranged at the top of the shell 31, the conical cover 311 can reduce the impact force caused by raindrops hitting the shell 31 and can perform effective flow guiding function, a rain shielding plate 312 is fixed on the outer wall of the shell 31, the rain shielding plate 312 is positioned above the vision camera 33 and shields the raindrops through the rain shielding plate, the rain drops can be protected to a certain extent from splashing, the visual camera 33 is provided with a lens sheet 331, the outside of the lens sheet 331 is connected with a cleaning film 44 in a sliding manner, the lens sheet 331 on the visual camera 33 is cleaned through the cleaning film 44, so that good vision is maintained, and data acquisition is facilitated, the inside of the shell 31 is provided with a cleaning motor 41, the cleaning motor 41 is in transmission connection with the cleaning film 44 through a transmission rod 411, the cleaning film 44 can be controlled to move up and down through the cleaning motor 41, the lens sheet 331 is cleaned, the cleaning film 44 comprises a supporting framework 441, a cleaning brush 442 and a transparent film 443, the supporting framework 441 is arc-shaped, the transparent film 443 is arranged on the inner side of the supporting framework 441, the transparent film 443 can reduce visual interference on the camera, the cleaning brush 442 is fixed on the transparent film 443, the cleaning brush 442 is a conventional brush body attached to the lens sheet 331, and can clean water drops on the lens sheet 331, the vision camera 33 and the cleaning motor 41 are electrically connected with an external power supply.
Specifically, the transmission rod 411 includes a threaded sleeve and a threaded rod, the threaded sleeve is in threaded connection with the threaded rod, the threaded sleeve is fixed on the cleaning film 44, and the threaded rod is fixed at the output end of the cleaning motor 41.
In this embodiment, the transmission rod 411 includes a threaded sleeve and a screw rod, the threaded sleeve is in threaded connection with the screw rod, the threaded sleeve is fixed on the cleaning film 44, the screw rod is fixed at the output end of the cleaning motor 41, and the lifting of the threaded sleeve on the screw rod can be controlled by the rotation of the screw rod driven by the cleaning motor 41, so that the cleaning film 44 slides up and down on the surface of the lens sheet 331 to clean water drops.
Specifically, the width of the supporting frame 441 is larger than the diameter of the lens sheet 331, and the cleaning brushes 442 are distributed on one side of the transparent film 443 in an arrow shape.
In this embodiment, the width of the supporting frame 441 is greater than the diameter of the lens 331, the cleaning brushes 442 are distributed on one side of the transparent film 443 in an arrow shape, the cleaning area can be increased through the larger size of the supporting frame 441, no dead angle is formed in the cleaning of the lens 331, in addition, the cleaning brushes 442 distributed in the arrow shape can guide water drops, the water drops are cleaned from the middle of the lens 331 to both sides, and the cleaned water drops flow out through the flow guide holes in the bottom of the housing 31.
Specifically, the unmanned vehicle 1 is provided with a main controller 6, the main controller 6 includes a preset cleaning module 61, the housing 31 is provided with a cleaning controller 4, the cleaning controller 4 includes a cleaning motor 41, a motor forward/reverse rotation module 42 and a frequency setting module 43, the model of the cleaning motor 41 is GA12-N20, the preset cleaning module 61 is connected to the frequency setting module 43, the motor forward/reverse rotation module 42 is connected to the output end of the frequency setting module 43, and the cleaning motor 41 is connected to the output end of the motor forward/reverse rotation module 42.
In this embodiment, the model of the main controller 6 is Pentium IV, the main controller 6 can judge the rain force according to the vision, then the cleaning controller 4 is triggered through the preset cleaning module 61, the cleaning frequency parameter in the frequency setting module 43 is adjusted according to the rain force, the signal is transmitted to the motor forward and backward rotation module 42 to control the forward and backward rotation of the cleaning motor 41, and the forward and backward rotation of the cleaning motor 41 controls the up and down movement of the cleaning film 44, so that the cleaning of the lens 331 is realized, the good visual field condition is ensured, and the driving safety is improved.
Specifically, the bottom of the shell 31 is provided with a gear ring 34, a steering motor 5 is fixed inside the rotary seat 32, the model of the steering motor 5 is GA12-N20, the output end of the steering motor 5 is fixed with a gear 51, and the gear 51 is meshed with the gear ring 34.
In this embodiment, the bottom of the housing 31 has a gear ring 34, a steering motor 5 is fixed inside the swivel base 32, a gear 51 is fixed at the output end of the steering motor 5, the gear 51 is meshed with the gear ring 34, when a vehicle is driven to a crossing, it can be determined to turn left or right according to a predetermined route, then the steering motor 5 is controlled to rotate, the steering motor 5 drives the gear 51 at the output end to be meshed with the gear ring 34, so that the housing 31 rotates at a certain angle, the vision camera 33 performs advanced data acquisition on the crossing of the predetermined route, and the safety is improved.
Specifically, the bottom of the rotary seat 32 is provided with a seat leg 321, and the seat leg 321 and the mounting seat 2 are fixedly connected through a screw.
In this embodiment, the bottom of the rotating base 32 has a base 321, the base 321 is fixedly connected with the mounting base 2 by screws, the mounting base is fixed by screws so as to be convenient to detach, and the fixing mode is simple and reliable.
Specifically, the visual camera 33 is connected to a signal cable 313, and the signal cable 313 is located on an outer wall of the housing 31.
In this embodiment, the signal cable 313 is connected to the visual camera 33, and the signal cable 313 is located on the outer wall of the housing 31, so that when the device is used, the signal cable 313 on the visual camera 33 is connected to the vehicle-mounted controller for data transmission.
The working principle and the using process of the invention are as follows: when a vehicle is driven to an intersection, the vehicle can turn left and right according to a preset line, then the steering motor 5 is controlled to rotate, the steering motor 5 drives the gear 51 at the output end of the steering motor 5 to be meshed with the gear ring 34, so that the shell 31 rotates at a certain angle, the vision camera 33 can acquire advanced data of the intersection of the preset line, the safety is improved, the vision camera 33 is positioned inside the shell 31 and can protect the vision camera 33, the top of the shell 31 is provided with the conical cover 311, the conical cover 311 can reduce the impact force caused by raindrops hitting the shell 31 and can perform effective diversion, the rain shielding plate 312 is fixed on the outer wall of the shell 31 and positioned above the vision camera 33, the raindrops are shielded by the rain shielding plate, and the splashing of the raindrops can be protected to a certain degree, the main controller 6 can judge the rain condition according to the vision, then triggers the cleaning controller 4 through the preset cleaning module 61, adjusts the cleaning frequency parameter in the frequency setting module 43 according to the rain condition, transmits the signal to the motor forward and backward rotation module 42, controls the forward and backward rotation of the cleaning motor 41, and controls the upward and downward movement of the cleaning film 44 when the cleaning motor 41 rotates forward and backward, thereby realizing the cleaning of the lens piece 331, ensuring the good visual field condition and improving the driving safety.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a vision device based on unmanned vehicle environment perception, includes unmanned vehicle (1), mount pad (2) and camera subassembly (3), camera subassembly (3) are fixed through mount pad (2) on unmanned vehicle (1), its characterized in that: the camera assembly (3) comprises a shell (31), a rotary seat (32) and a visual camera (33), wherein the shell (31) is rotatably connected above the rotary seat (32), the visual camera (33) is positioned in the shell (31), a conical cover (311) is arranged at the top of the shell (31), a rain shielding plate (312) is fixed on the outer wall of the shell (31), the rain shielding plate (312) is positioned above the visual camera (33), a lens sheet (331) is arranged on the visual camera (33), a cleaning film (44) is connected to the outer side of the lens sheet (331) in a sliding manner, a cleaning motor (41) is arranged in the shell (31), the cleaning motor (41) is in transmission connection with the cleaning film (44) through a transmission rod (411), and the cleaning film (44) comprises a supporting framework (441), a cleaning brush (442) and a transparent film (443), the supporting framework (441) is arc-shaped, the transparent film (443) is arranged on the inner side of the supporting framework (441), the cleaning brush (442) is fixed on the transparent film (443), and the visual camera (33) and the cleaning motor (41) are electrically connected with an external power supply; wherein
The transmission rod (411) comprises a threaded sleeve and a screw rod, the threaded sleeve is in threaded connection with the screw rod, the threaded sleeve is fixed on the cleaning film (44), and the screw rod is fixed at the output end of the cleaning motor (41);
the width of the supporting framework (441) is larger than the diameter of the lens sheet (331), and the cleaning brushes (442) are distributed on one side of the transparent film (443) in an arrow shape.
2. The visual device based on the environmental perception of the unmanned vehicle as claimed in claim 1, wherein: be equipped with main control unit (6) in unmanned vehicle (1), main control unit (6) cleans module (61) including the reservation, be equipped with in casing (31) and clean controller (4), clean controller (4) include clean motor (41), motor just reverse module (42) and frequency setting module (43), it connects to predetermine cleaning module (61) on frequency setting module (43), motor just reverse module (42) are connected the output of frequency setting module (43), it connects to clean motor (41) the output of motor just reverse module (42).
3. The visual device based on the environmental perception of the unmanned vehicle as claimed in claim 1, wherein: the bottom of casing (31) has ring gear (34), the inside of swivel mount (32) is fixed with steering motor (5), steering motor's (5) output is fixed with gear (51), gear (51) with ring gear (34) meshing connection.
4. The visual device based on the environmental perception of the unmanned vehicle as claimed in claim 1, wherein: the bottom of the rotary seat (32) is provided with a seat foot (321), and the seat foot (321) is fixedly connected with the mounting seat (2) through a screw.
5. The visual device based on the environmental perception of the unmanned vehicle as claimed in claim 1, wherein: the visual camera (33) is connected with a signal cable (313), and the signal cable (313) is located on the outer wall of the shell (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811644047.6A CN109733296B (en) | 2018-12-30 | 2018-12-30 | Visual device based on environment perception of unmanned automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811644047.6A CN109733296B (en) | 2018-12-30 | 2018-12-30 | Visual device based on environment perception of unmanned automobile |
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| CN109733296A CN109733296A (en) | 2019-05-10 |
| CN109733296B true CN109733296B (en) | 2021-03-16 |
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