CN115480266A

CN115480266A - Blind-repairing sensor and mobile device

Info

Publication number: CN115480266A
Application number: CN202110666637.4A
Authority: CN
Inventors: 顾敏奇
Original assignee: Alibaba Singapore Holdings Pte Ltd
Current assignee: Wuzhou Online E Commerce Beijing Co ltd
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2022-12-16

Abstract

The embodiment of the present disclosure relates to a touch-up sensor and a mobile device, wherein the touch-up sensor includes: the device comprises a control module, a driving module and a plurality of laser emission modules; the control module is used for controlling the driving module; the driving module is used for driving the plurality of laser emitting modules to swing; the plurality of laser emitting modules are used for emitting laser signals in the swinging process so as to form laser coverage in a preset area. In at least one embodiment of the disclosure, the blind-complementing sensor drives the plurality of laser emission modules to swing back and forth through the driving module, and each laser emission module emits a laser signal in the swinging process to form a sub-coverage area of each laser emission module, so that the sub-coverage areas of each laser emission module can be spliced into a laser coverage area without a blind area, and the problem of detection blind areas is solved.

Description

Blind-repairing sensor and mobile device

Technical Field

The embodiment of the disclosure relates to the technical field of data acquisition, in particular to a blind-supplementary sensor and a mobile device.

Background

At present, one or more detection sensors of the same type or different types, such as a multi-line laser radar, a single-line laser radar, a camera, a millimeter wave radar, an ultrasonic radar and the like, are mounted on a mobile device (such as a robot, an unmanned vehicle and the like), no matter which detection sensor exists, a detection blind area exists, and even if the detection sensors are used in a combined mode, the problem of the detection blind area cannot be completely solved.

The above description of the discovery process of the problems is only for the purpose of assisting understanding of the technical solutions of the present disclosure, and does not represent an admission that the above is prior art.

Disclosure of Invention

To solve at least one problem of the prior art, at least one embodiment of the present disclosure provides a blind-supplementary sensor and a mobile device.

In a first aspect, an embodiment of the present disclosure provides a blind-repairing sensor, including:

the device comprises a control module, a driving module and a plurality of laser emission modules;

the control module is used for controlling the driving module;

the driving module is used for driving the laser emission modules to swing;

the laser emitting modules are used for emitting laser signals in the swinging process so as to form laser coverage in a preset area.

In some embodiments, the drive module is provided with a plurality of first mounting structures and a second mounting structure;

the first mounting structure is used for mounting the laser emission module;

the second mounting structure is used for mounting the control module.

In some embodiments, the drive module is a cylindrical motor;

the first mounting structure is arranged along the circumferential direction of the outer surface of the cylindrical motor, and the direction of the laser emission module for emitting laser extends outwards along the radial direction of the cylindrical motor and passes through the first mounting structure;

the second mounting structure is arranged along the circumferential direction of the outer surface of the cylindrical motor, and the radial plane where the second mounting structure is located is not coincident with the radial plane where the first mounting structure is located.

In some embodiments, the number of the plurality of laser emission modules is determined according to a maximum swing range of the driving module.

In some embodiments, the laser coverage area without the blind area is a 180 ° sector area, the maximum swing range of the driving module is 45 °, the number of the plurality of laser emission modules is 4, and the plurality of laser emission modules are uniformly distributed along the circumferential direction of the outer surface of the cylindrical motor in the 180 ° sector area.

In some embodiments, the blind-fill sensor further comprises a mounting module provided with a mounting structure for fixedly mounting the control module, a mounting structure for fixedly mounting the driving module, and a mounting structure for mounting the plurality of laser emitting modules.

In some embodiments, the control module is further configured to:

collecting driving information of the driving modules and determining laser ranging time of each laser emitting module;

determining an obstacle position based on the driving information and the laser ranging time.

In some embodiments, the blind-fill sensor further includes an anti-light interference module disposed on a path of the laser light emitted by the plurality of laser emission modules.

In some embodiments, the light interference resistant module is a light-transmitting housing resistant to light interference, and the blind-repairing sensor further comprises a base structure, and the light-transmitting housing is hermetically connected with the base structure; the control module, the driving module and the plurality of laser emission modules are arranged in a cavity formed after the light-transmitting shell is hermetically connected with the base structure.

In some embodiments, the light interference rejection module comprises a plurality of light transmissive sheets that are resistant to light interference; each light-transmitting sheet is fixedly arranged on a path of the laser emitted by one laser emitting module.

In some embodiments, the laser emitting module comprises one laser emitter or a plurality of laser emitters.

In a second aspect, an embodiment of the present disclosure further provides a mobile device, including at least one detection sensor and at least one blind-supplementary sensor according to any embodiment of the first aspect;

the laser coverage area of at least one blind-repairing sensor covers the blind area of at least one detection sensor.

Therefore, in at least one embodiment of the present disclosure, the blind-complementing sensor drives the plurality of laser emission modules to swing back and forth through the driving module, and each laser emission module emits a laser signal in the swing process to form a sub-coverage area of each laser emission module, so that the sub-coverage areas of each laser emission module can be combined into a laser coverage area without a blind area, and the problem of a detection blind area is solved.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following descriptions are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is a front view of a blind-patch sensor provided in an embodiment of the present disclosure;

FIG. 2 is a top view of the blind-fill sensor shown in FIG. 1;

fig. 3 is a schematic diagram of a layout of a single-point laser sensor according to an embodiment of the disclosure;

fig. 4A is a schematic top view of a detection range without blind-fill according to an embodiment of the present disclosure;

FIG. 4B is a schematic top view of the detection range after blind-fill based on FIG. 4A;

fig. 5 is an exemplary architecture diagram of an autonomous vehicle provided by an embodiment of the disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure can be more clearly understood, the present disclosure will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The specific embodiments described herein are merely illustrative of the disclosure and are not intended to be limiting. All other embodiments derived by one of ordinary skill in the art from the described embodiments of the disclosure are intended to be within the scope of the disclosure.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

There are various types of detection sensors, such as a multiline lidar, a single line lidar, a camera, a millimeter wave radar, an ultrasonic radar, and the like. The detection sensor is mounted on a mobile device (e.g., a robot, an unmanned vehicle, etc.) and can detect an obstacle. However, these detection sensors have advantages and disadvantages, and it is difficult to solve the problems of detection blind areas and high cost. More specifically, (1) no matter which kind of detection sensor, there is a detection blind area, and even if used in combination, the detection blind area problem cannot be completely solved. For example, the laser radar has the maximum detection angle, the area beyond the maximum detection angle cannot be detected, and the camera has a vision blind area. (2) The detection sensors such as laser radars, industrial cameras, panoramic cameras, and the like have high cost. (3) there is a small probability of false detection. For example, lidar cannot remove the interference point from the sensor itself because of the bare data upload; the camera is weak in the dark or under the mirror. (4) The existing blind-repairing sensor usually adopts an ultrasonic radar, an infrared sensor, a thermopile sensor and the like, can only judge whether an obstacle exists, and cannot determine the specific direction and distance of the obstacle. For example, the ultrasonic radar can only determine that the obstacle is in the range of 30 ° or 40 °, and cannot determine the specific position of the obstacle; the infrared sensor can only judge whether an obstacle exists or not, and cannot determine the specific position of the obstacle; the thermopile sensor can determine the position of the obstacle only when a temperature difference occurs.

Accordingly, at least one embodiment of the present disclosure provides a blind-supplement sensor, which can achieve at least one of the following effects: the problem of detection blind areas can be solved by the aid of the method (1). And (2) the cost can be reduced. And (3) the false detection rate can be reduced. (4) the specific orientation and distance of the obstacle can be determined.

Fig. 1 is a front view of a blind-patch sensor provided in an embodiment of the present disclosure. As shown in fig. 1, the blind-fill sensor includes: a control module 101, a driving module 102, a plurality of laser emitting modules 103, and other modules, such as a power supply module.

The control module 101 is used for controlling the driving module 102. In some embodiments, the control module 101 may receive a blind-fill instruction, which may be sent by an external device, such as an autonomous driving system of an autonomous vehicle, which may be a different level system, such as an unmanned driving system, a driving-assisted system, a highly autonomous driving system, a fully autonomous driving system, and so on. In some embodiments, the autopilot system may be a software system, a hardware system, or a combination of software and hardware. For example, an autopilot system is a software system running on an operating system, and an in-vehicle hardware system is a hardware system that supports the running of the operating system. After receiving the blind-repairing instruction, the control module 101 controls the driving module 102 to swing and controls the plurality of laser emitting modules 103 to emit laser. In fig. 1, the control module 101 controls the driving module 102 to rotate clockwise or counterclockwise or alternately rotate clockwise and counterclockwise.

The driving module 102 is configured to drive the plurality of laser emitting modules 103 to swing. In some embodiments, the drive module 102 oscillates under the control of the control module 101. The driving module 102 may drive the plurality of laser emission modules 103 to swing while swinging. In some embodiments, the drive module 102 is a micro stepper motor.

The plurality of laser emitting modules 103 are used to emit laser signals during the wobbling process to form laser coverage in a predetermined area. In some embodiments, the laser emission module 103 turns on or off laser emission under the control of the control module 101. The laser emitting module 103 swings under the driving of the driving module 102, and emits a laser signal during the swing.

Each laser emission module 103 emits a laser signal during the wobbling process, forming a sub-footprint of each laser emission module 103. In some embodiments, the sub-footprints of each of the plurality of laser emission modules 103 are non-overlapping. Thus, the sub-coverage areas of each laser transmitter module 103 may be combined into a non-blind laser coverage area, for example, a 180-degree sector area, and for forward detection, the 180-degree sector area is the non-blind laser coverage area.

In some embodiments, the control module 101, the driving module 102 and the plurality of laser emission modules 103 are fixed relatively, so that when the control module 101 controls the driving module 102 to swing, the control module 101 and the plurality of laser emission modules 103 also swing synchronously, and during the swing, the control module 101, the driving module 102 and the plurality of laser emission modules 103 are relatively static.

It can be seen that, in at least one embodiment of the present disclosure, the blind-complementing sensor drives the plurality of laser emission modules 103 to swing back and forth through the driving module 102, and each laser emission module 103 emits a laser signal in the swing process to form a sub-coverage area of each laser emission module 103, so that the sub-coverage areas of each laser emission module 103 can be combined into one laser coverage area without a blind area, thereby solving the problem of a detection blind area.

It should be noted that the blind-supplementary sensor in at least one embodiment of the present disclosure may be used in combination with the detection sensor, or may be used alone, so as to solve the problem of the detection blind area.

In some embodiments, one implementation of the relative fixed arrangement among the control module 101, the driving module 102 and the plurality of laser emitting modules 103 is as follows: the control module 101 and the laser emission module 103 are mounted on the driving module 102. Specifically, the drive module 102 may be provided with a plurality of first mounting structures and one second mounting structure. Wherein the first mounting structures are used for mounting the laser emission modules 103, and one first mounting structure is fixedly mounted or detachably mounted with one laser emission module 103, so that the number of the first mounting structures depends on the number of the laser emission modules 103, that is, the number of the first mounting structures is equal to the number of the laser emission modules 103. The second mounting structure is used for mounting the control module 101, wherein the mounting mode is fixed mounting or detachable mounting.

It can be seen that, by mounting the laser emitting module 103 and the control module 101 on the driving module 102, the blind-repairing sensor can be made small as a whole, which is suitable for different mobile devices, such as a small robot.

In some embodiments, the drive module 102 is a cylindrical motor, such as the cylindrical shape shown in fig. 1. The first mounting structure may be disposed along a circumferential direction of an outer surface of the cylindrical motor, and a direction in which the laser emitting module 103 emits laser light extends outward in a radial direction of the cylindrical motor and passes through the first mounting structure. Fig. 2 is a top view of the blind-fill sensor shown in fig. 1, in fig. 2, the direction indicated by the dashed arrow is the direction in which the laser emitting module 103 emits laser light, and extends outward in the radial direction of the cylindrical motor, and the direction indicated by the dashed arrow is through the first mounting structure (not shown in fig. 2).

It can be seen that by arranging the first mounting structure along the circumferential direction of the outer surface of the cylindrical motor to mount the laser emitting modules 103 and emit laser light in a radial direction, it can be ensured that the sub-footprints of each laser emitting module 103 can be pieced together into one laser footprint without blind spots.

In some embodiments, the second mounting structure may be circumferentially disposed along an outer surface of the cylindrical motor, and a radial plane on which the second mounting structure is located is not coincident with a radial plane on which the first mounting structure is located. A radial plane is understood to mean a plane formed radially by the cylindrical electrical machine. In fig. 1, the 4 laser emission modules 103 are located on the same radial plane and do not coincide with the radial plane on which the control module 101 is located.

It can be seen that the control module 101 is installed by arranging the second installation structure along the circumferential direction of the outer surface of the cylindrical motor, and the radial plane where the second installation structure is located is not overlapped with the radial plane where the first installation structure is located, so that the control module 101 and the cylindrical motor are relatively fixed.

In some embodiments, the second mounting structure may be a slot formed on the cylinder of the cylindrical motor, so that the control module 101 may be inserted into the slot, which is convenient for reducing the overall volume of the blind-repairing sensor.

In some embodiments, the control module 101 is a donut-shaped control board, as shown in fig. 1. Like this, the ring shape control panel can be located on cylindrical motor by the cover, is convenient for relatively fixed ring shape control panel and cylindrical motor.

In some embodiments, the number of the plurality of laser emission modules 103 is determined according to the maximum swing range of the driving module 102. For example, if the maximum swing range of the driving module 102 is 45 °, the number of the plurality of laser emission modules 103 is determined to be 4, and the plurality of laser emission modules 103 are uniformly distributed along the circumferential direction of the outer surface of the cylindrical motor in the 180 ° sector, it is possible to ensure that the sub-coverage areas of each laser emission module 103 can be pieced into one 180 ° sector without a blind area.

Therefore, the number of the laser emission modules 103 can be determined according to the maximum swing range of the driving module 102, so that the laser coverage without blind areas is realized by the minimum number, and the overall cost of the blind-supplement sensor is reduced. In addition, an angular resolution of 2 ° can be achieved by the number and angle of installation of the plurality of laser emission modules 103.

In some embodiments, another implementation manner of the relative fixed arrangement among the control module 101, the driving module 102 and the plurality of laser emitting modules 103 is as follows: the control module 101, the driving module 102, and the laser emitting module 103 are installed by the installation module. In particular, the blind-fill sensor may further comprise an installation module. The mounting module is provided with a mounting structure for fixedly mounting the control module 101, a mounting structure for fixedly mounting the driving module 102, and a mounting structure for mounting the plurality of laser emission modules 103.

Therefore, the control module 101, the driving module 102 and the laser emitting module 103 are installed through the installation module, so that the control module 101 and the laser emitting module 103 are not installed on the driving module 102 any more, although the overall volume of the blind-repairing sensor is larger, the blind-repairing effect is not affected, and the problem of detecting blind areas can be solved.

In some embodiments, the control module 101 may also be configured to: collecting driving information of the driving module 102 and determining laser ranging time of each laser emitting module 103; and then determining the position of the obstacle based on the driving information and the laser ranging time. Wherein the position of each laser emission module 103 can be determined based on the driving information. In addition, multiple ToF (Time of Flight) detections, sliding averages, hysteresis, or any type of filtering may be used during laser ranging to reduce false detection rates.

Therefore, the control module 101 can determine the specific direction and distance of the obstacle in addition to the judgment of whether the obstacle exists, and provide a basis for subsequent processing related to automatic driving, such as obstacle avoidance processing and path planning.

In some embodiments, the blind-fill sensor may further comprise an anti-light interference module. The light interference resistant module is made of special materials, has the function of resisting optical interference, can continue to use related technologies, and is not described in detail. In some embodiments, the anti-light interference module is disposed in a path where the plurality of laser emission modules 103 emit laser light.

It can be seen that, by disposing the light interference prevention module on the path of the emitted laser, the light interference prevention module can prevent the external optical interference to the laser emission module 103, but does not affect the emission and reception of the laser by the laser emission module 103, so as to improve the accuracy of the detection of the detected object by the laser emission module 103 and reduce the false detection rate.

In some embodiments, the light interference prevention module may be implemented as a light-transmitting housing that is resistant to light interference, wherein light transmission may be understood as that laser light emitted by the laser emitting module 103 and laser light reflected by an obstacle may be transmitted therethrough. The blind-fill sensor may further comprise a base structure. Therefore, the light-transmitting shell is hermetically connected with the base structure, so that the light interference resistant module is conveniently arranged on the base structure of the blind repair sensor.

The control module 101, the driving module 102 and the plurality of laser emission modules 103 are arranged in a cavity formed after the light-transmitting shell is hermetically connected with the base structure, so that if the light-transmitting shell is hemispherical, the blind-supplement sensor is hemispherical in appearance; if the light-transmitting shell is in other shapes, the appearance of the blind-filling sensor can be changed.

In some embodiments, the light interference rejection module may include a plurality of light transmissive sheets that are resistant to light interference. Each of the light-transmitting sheets is fixedly disposed on a path of one of the laser emission modules 103 emitting laser light, and the number of the light-transmitting sheets is the same as that of the laser emission modules 103. In this embodiment, the light ray anti-interference module is implemented not as a light-transmitting casing but as a light-transmitting sheet, so that the overall volume of the blind-repairing sensor can be reduced. In some embodiments, the distance of each light transmissive sheet relative to the laser emission module 103 is fixed. In some embodiments, the light-transmitting sheet resistant to light interference can be further implemented as a waterproof sheet, that is, both the light interference resistant function and the waterproof function are provided.

In some embodiments, the laser emitting module 103 includes one laser emitter or a plurality of laser emitters, such that when one laser emitter is included in the laser emitting module 103, a single line laser is formed, wherein the laser emitter may be a single-point laser sensor, and the single-point laser sensor may implement planar laser ranging through its rotation; when the laser emitting module 103 includes a plurality of laser emitters, a multi-line laser is formed, and the plurality of laser emitters may adopt a related multi-line laser arrangement manner, which is not described again.

In some embodiments, the control module 101 in the blind-supplement sensor can be implemented by a single-chip microcomputer or a vehicle-scale control chip, the driving module 102 is implemented by a micro stepping motor, the laser emitting module 103 is implemented by a single-point laser sensor, and the light ray anti-interference module is implemented by a light-transmitting waterproof sheet resistant to light ray interference, that is, the blind-supplement sensor includes: 1 singlechip or car rule level control chip, 1 miniature step motor, 4 single-point laser sensors and 4 printing opacity waterproof sheet, like this, the total cost of mending blind sensor is equivalent to an ultrasonic transducer's cost, and it is thus clear that the benefit blind sensor that this disclosed embodiment provided can reduce cost. Furthermore, the distance measurement precision of the single-point laser sensor can be guaranteed within 1%, namely 1m error is 1cm,2m error is 2cm, and the requirement of short-distance blind area supplement is met. In addition, the driving module 102 adopts a micro stepping motor, the driving step length is 1 step at the minimum, 4 single-point laser sensors are driven, each single-point laser sensor detects environment information (including the angle and the distance of the barrier relative to the single-point laser sensor) of a 45-degree sector, the whole circle of detection time can be controlled within 200ms, and the angular resolution of 5 degrees can be still realized on the premise of ensuring the whole measuring period. In addition, the single-point laser sensor can be set to have no external false triggering mode, and the precision of distance measurement is guaranteed.

Fig. 3 shows a schematic layout of a single-point laser sensor, where a micro stepper motor (motor) is cylindrical, the maximum swing range is 45 °,4 single-point laser sensors (1,2,3,4 in fig. 3) are uniformly distributed along the circumferential direction of the outer surface of the cylindrical motor in a 180 ° sector, and the laser sub-coverage area of each single-point laser sensor is 45 °, so that the sub-coverage areas of the 4 single-point laser sensors can be combined into a 180 ° sector without a blind area. In this embodiment, the detection distance of each single-point laser sensor is 1m, the error is 0.157m, the angular resolution is 9 °, and the requirement for short-distance blind area supplement is met.

Fig. 4A shows a TOP VIEW (TOP VIEW) schematic VIEW of a detection range without blind repair, in fig. 4A, the entire vehicle is equipped with 8 UPAs (i.e., ultrasonic radars for measuring obstacles in front of or behind the vehicle mounted on the head or the tail of the vehicle) and 4 APAs (i.e., ultrasonic radars for measuring obstacles on the side of the vehicle mounted on the side of the vehicle) and the head and the tail are equipped with 4 APAs and 2 UPAs, respectively. As can be seen, in fig. 4A, a detection blind zone exists between the APA detection range and the UPA detection range.

Fig. 4B shows a schematic TOP VIEW (TOP VIEW) of a detection range after blind repair is performed on the basis of fig. 4A, in fig. 4B, 4 blind repair sensors are adopted for a whole vehicle, 2 blind repair sensors are respectively installed at a vehicle head and a vehicle tail, and each blind repair sensor can supplement laser coverage of a 180 ° sector area. Therefore, the detection blind area in fig. 4A is covered by the laser emitted by the blind-patch sensor, so that the problem of the detection blind area is solved.

Embodiments of the present disclosure also provide a mobile device including at least one detection sensor and at least one blind-fill sensor. Wherein the laser coverage area of at least one blind-fill sensor covers the blind area of at least one detection sensor. The data of the at least one detection sensor and the at least one blind-complementing sensor can be fused, and the fusion processing mode can follow the related multi-sensor data fusion scheme, which is not described in detail.

In some embodiments, the mobile device may be an unmanned vehicle, an assisted driving vehicle, an unmanned logistics vehicle, or other vehicle (referred to as an autonomous vehicle for short) equipped with different levels of autonomous systems, and the control module included in the blind-fill sensor may be implemented by a vehicle-scale-level chip or a single chip microcomputer. The moving device may be a robot, such as a transfer robot.

Fig. 5 is an exemplary architecture diagram of an autonomous vehicle provided by an embodiment of the disclosure. As shown in fig. 5, the autonomous vehicle includes: sensor groups, autonomous driving systems, vehicle floor-mounted actuation systems, and other components that may be used to propel the vehicle and control the operation of the vehicle, such as brake pedals, steering wheel, and accelerator pedals.

And the sensor group is used for acquiring data of the external environment of the vehicle and detecting position data of the vehicle. The sensor group includes, for example, but not limited to, at least one of a camera, a laser radar, a millimeter wave radar, an ultrasonic radar, a GPS (Global Positioning System), and an IMU (Inertial Measurement Unit). In this embodiment, the sensor group further includes: at least one blind fill sensor.

In some embodiments, the sensor group is further used for collecting dynamic data of the vehicle, and the sensor group further includes, for example and without limitation, at least one of a wheel speed sensor, a speed sensor, an acceleration sensor, a steering wheel angle sensor, and a front wheel angle sensor.

The automatic driving system is used for acquiring sensing data of the sensor group, wherein the sensing data comprises but is not limited to images, videos, laser point clouds, millimeter waves, GPS information, vehicle states and the like. In some embodiments, the autonomous driving system may perform environmental sensing and Vehicle positioning based on at least one of sensory data, V2X (Vehicle to X) data, high precision maps, and the like, generating sensing information and Vehicle pose, wherein the sensing information may include, but is not limited to, at least one of: obstacle information, road signs/markings, pedestrian/vehicle information, drivable zones.

In some embodiments, the autonomous driving system may make planning and decision based on the perception information and the vehicle pose, generating planning and decision information. The planning information may include, but is not limited to, planning a path, etc.; the decision information may include, but is not limited to, at least one of: behavior (including, for example and without limitation, following, passing, parking, circumventing, etc.), vehicle heading, vehicle speed, desired acceleration of the vehicle, desired steering wheel angle, etc.

In some embodiments, the automatic driving system may generate vehicle control instructions based on the planning and decision information and issue the vehicle control instructions to the vehicle floor execution system, so that the vehicle floor execution system controls the vehicle to run. The control instructions may include, but are not limited to: steering wheel steering, lateral control commands, longitudinal control commands, and the like.

In some embodiments, the autopilot system may interact with a cloud server. In some embodiments, the autopilot system interacts with the cloud server via a wireless communication network (e.g., including but not limited to a 4G network, a 5G network, etc. that meets the data transmission requirements of the internet of vehicles). In some embodiments, the cloud server is used to interact with the vehicle. The cloud server can send environment information, positioning information, control information and other information required in the intelligent driving process of the vehicle to the vehicle. In some embodiments, the cloud server may receive the sensing data, the vehicle state information, the vehicle driving information and the related information of the vehicle request from the vehicle end. In some embodiments, the cloud server may remotely control the vehicle based on user settings or vehicle requests. In some embodiments, the cloud server may be a server or a server group. The server group may be centralized or distributed. In some embodiments, the cloud server may be local or remote.

And the vehicle bottom layer execution system is used for receiving the vehicle control command and controlling the vehicle to run based on the vehicle control command. In some embodiments, vehicle under-floor execution systems include, but are not limited to: a steering system, a braking system and a drive system. In some embodiments, the vehicle bottom layer execution system may further include a bottom layer controller, which is configured to parse the vehicle control command and issue the vehicle control command to corresponding systems, such as a steering system, a braking system, and a driving system, respectively.

In some embodiments, the autonomous vehicle may also include a vehicle CAN bus, not shown in FIG. 1, that connects to the vehicle floor implement system. Information interaction between the automatic driving system and the vehicle bottom layer execution system is transmitted through a vehicle CAN bus.

Of course, the algorithm module included in the autopilot system may be different according to the type of the autopilot vehicle, and the algorithm module may be implemented as a software system, a hardware system, or a system combining software and hardware, independent of the autopilot system. For example, different algorithm modules may be involved for logistics vehicles, public service vehicles, medical service vehicles, terminal service vehicles. The algorithm modules are illustrated below for these four autonomous vehicles, respectively:

the logistics vehicle refers to a vehicle used in a logistics scene, and may be, for example, a logistics vehicle with an automatic sorting function, a logistics vehicle with a refrigeration and heat preservation function, and a logistics vehicle with a measurement function. These logistics vehicles may involve different algorithm modules.

For example, the logistics vehicles can be provided with an automatic sorting device, and the automatic sorting device can automatically take out, convey, sort and store the goods after the logistics vehicles reach the destination. This relates to an algorithm module for goods sorting, which mainly implements logic control of goods taking out, carrying, sorting, storing and the like.

For another example, in a cold chain logistics scenario, the logistics vehicle may further include a refrigeration and insulation device, and the refrigeration and insulation device may implement refrigeration or insulation of transported fruits, vegetables, aquatic products, frozen foods, and other perishable foods, so that the transportation environment is in a proper temperature environment, and the long-distance transportation problem of perishable foods is solved. The algorithm module is mainly used for dynamically and adaptively calculating the proper temperature of cold meal or heat preservation according to the information such as the property, the perishability, the transportation time, the current season, the climate and the like of food (or articles), and automatically adjusting the cold-storage heat preservation device according to the proper temperature, so that a transport worker does not need to manually adjust the temperature when the vehicle transports different foods or articles, the transport worker is liberated from the complicated temperature regulation and control, and the efficiency of cold-storage heat preservation transportation is improved.

For another example, in most logistics scenarios, the fee is charged according to the volume and/or weight of the parcel, but the number of logistics parcels is very large, and the measurement of the volume and/or weight of the parcel by a courier is only dependent, which is very inefficient and has high labor cost. Therefore, in some logistics vehicles, a measuring device is additionally arranged, so that the volume and/or the weight of the logistics packages can be automatically measured, and the cost of the logistics packages can be calculated. This relates to an algorithm module for logistics package measurement, which is mainly used to identify the type of logistics package, determine the measurement mode of logistics package, such as volume measurement or weight measurement or combined measurement of volume and weight, and can complete the measurement of volume and/or weight according to the determined measurement mode and complete the cost calculation according to the measurement result.

The public service vehicle refers to a vehicle providing a certain public service, and may be, for example, a fire truck, an ice removal truck, a water sprinkler, a snow clearer, a garbage disposal vehicle, a traffic guidance vehicle, and the like. These public service vehicles may involve different algorithm modules.

For example, in the case of an automatically driven fire fighting vehicle, the main task is to perform a reasonable fire fighting task on the fire scene, which involves an algorithm module for the fire fighting task, which at least needs to implement logic such as identification of the fire situation, planning of the fire fighting scheme, and automatic control of the fire fighting device.

For another example, for an ice removing vehicle, the main task is to remove ice and snow on the road surface, which involves an algorithm module for ice removal, the algorithm module at least needs to realize the recognition of the ice and snow condition on the road surface, formulate an ice removal scheme according to the ice and snow condition, such as which road sections need to be deiced, which road sections need not to be deiced, whether a salt spreading manner, the salt spreading gram number, and the like are adopted, and the logic of automatic control of a deicing device under the condition of determining the ice removal scheme.

The medical service vehicle is an automatic driving vehicle capable of providing one or more medical services, the vehicle can provide medical services such as disinfection, temperature measurement, dispensing and isolation, and the algorithm modules relate to algorithm modules for providing various self-service medical services.

The terminal service vehicle is a self-service automatic driving vehicle which can replace some terminal devices and provide certain convenient service for users, and for example, the vehicles can provide services such as printing, attendance checking, scanning, unlocking, payment and retail for the users.

For example, in some application scenarios, a user often needs to go to a specific location to print or scan a document, which is time consuming and labor intensive. Therefore, a terminal service vehicle capable of providing printing/scanning service for a user appears, the service vehicles can be interconnected with user terminal equipment, the user sends a printing instruction through the terminal equipment, the service vehicle responds to the printing instruction, documents required by the user are automatically printed, the printed documents can be automatically sent to the position of the user, the user does not need to queue at a printer, and the printing efficiency can be greatly improved. Or, the scanning instruction sent by the user through the terminal equipment can be responded, the scanning vehicle is moved to the position of the user, the user finishes scanning on the scanning tool of the service vehicle on which the document to be scanned is placed, queuing at the printing/scanning machine is not needed, and time and labor are saved. This involves an algorithm module providing print/scan services that needs to identify at least the interconnection with the user terminal equipment, the response to print/scan instructions, the positioning of the user's location, and travel control.

For another example, as new retail business is developed, more and more electronic stores sell goods to large office buildings and public areas by using vending machines, but the vending machines are placed at fixed positions and are not movable, and users need to go by the vending machines to purchase the needed goods, which is still poor in convenience. Therefore, self-service driving vehicles capable of providing retail services appear, the service vehicles can carry commodities to move automatically and can provide corresponding self-service shopping APP or shopping entrances, a user can place an order for the self-service driving vehicles providing retail services through the APP or shopping entrances by means of a terminal such as a mobile phone, the order comprises names and numbers of commodities to be purchased, and after the vehicle receives an order placement request, whether the current remaining commodities have the commodities purchased by the user and whether the quantity is sufficient can be determined. This involves algorithm modules that provide retail services that implement logic primarily to respond to customer order requests, order processing, merchandise information maintenance, customer location, payment management, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.

Those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the disclosure and form different embodiments.

Those skilled in the art will appreciate that the descriptions of the various embodiments have different emphasis, and reference may be made to the related descriptions of other embodiments for those parts of one embodiment that are not described in detail.

Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A blind-fill sensor comprising:

the control module is used for controlling the driving module;

the driving module is used for driving the plurality of laser emitting modules to swing;

2. The blind-fill sensor of claim 1, wherein a plurality of first mounting structures and a second mounting structure are provided on the drive module;

the first mounting structure is used for mounting the laser emission module;

the second mounting structure is used for mounting the control module.

3. The blind-fill sensor of claim 2, wherein the drive module is a cylindrical motor;

4. The blind-fill sensor according to claim 3, wherein the number of the plurality of laser emitting modules is determined according to a maximum swing range of the driving module.

5. The blind repair sensor according to claim 4, wherein the laser coverage area without blind areas is a 180 ° sector area, the maximum swing range of the driving module is 45 °, the number of the plurality of laser emission modules is 4, and the plurality of laser emission modules are uniformly distributed along the circumferential direction of the outer surface of the cylindrical motor within the 180 ° sector area.

6. The blind repair sensor according to claim 1, further comprising a mounting module provided with a mounting structure for fixedly mounting the control module, a mounting structure for fixedly mounting the driving module, and a mounting structure for mounting the plurality of laser emission modules.

7. The blind-fill sensor of claim 1, wherein the control module is further to:

8. The blind-fill sensor according to claim 1, wherein the blind-fill sensor further comprises an anti-light interference module, and the anti-light interference module is arranged on a path of the laser emitted by the plurality of laser emitting modules.

9. The blind repair sensor according to claim 8, wherein the light interference resistant module is a light-transmissive housing resistant to light interference, the blind repair sensor further comprising a base structure, the light-transmissive housing being sealingly connected to the base structure; the control module, the driving module and the plurality of laser emission modules are arranged in a cavity formed after the light-transmitting shell is hermetically connected with the base structure.

10. The blind-fill sensor of claim 8, wherein the light interference rejection module comprises a plurality of light-transmissive sheets that are resistant to light interference; each light-transmitting sheet is fixedly arranged on a path of the laser emitting module for emitting laser.

11. The blind repair sensor according to claim 1, wherein the laser emitting module comprises one laser emitter or a plurality of laser emitters.

12. A mobile device comprising at least one detection sensor and at least one blind-fill sensor according to any one of claims 1 to 11;