CN211684902U

CN211684902U - Cloud platform and vehicle of adjustable detection range

Info

Publication number: CN211684902U
Application number: CN201921714194.6U
Authority: CN
Inventors: 师小五; 金大鹏; 刘莲芳; 田俊涛
Original assignee: Beiqi Foton Motor Co Ltd
Current assignee: Beiqi Foton Motor Co Ltd
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2020-10-16
Anticipated expiration: 2029-10-12

Abstract

The disclosure relates to a cloud platform and vehicle of adjustable detection range. This cloud platform includes: the axis of rotation, driving motor, coupling mechanism and the detection device installing support of setting in the axis of rotation, wherein, coupling mechanism connects axis of rotation movably on vehicle installation face, and the axis of rotation receives driving motor's control and rotates, thus, can control the rotation of axis of rotation through driving motor, so that the axis of rotation can drive detection device installing support swing when rotating, thereby realize adjusting the purpose of installing the detection device's in detection device installing support detection scope, and then reduce or eliminate the blind area that the vehicle formed when turning, guarantee the driving completely, avoid the emergence of traffic accident.

Description

Cloud platform and vehicle of adjustable detection range

Technical Field

The disclosure relates to the technical field of vehicles, in particular to a cloud platform capable of adjusting detection range and a vehicle.

Background

At present, the detection of a vehicle on a front target obstacle is mainly completed through a laser radar, a millimeter wave radar and a camera, and prediction is carried out according to the detected dynamic state of the front target obstacle. Generally, the laser radar has a large detection range, and due to the characteristics of the millimeter wave radar and the camera, the detection range is limited within a certain range. And, because the radius of curvature is less when the vehicle turns, in the turn process, if the cloud platform can not be adjusted, there is the dynamic blind area in the short time to the barrier of quarter turn inboard. The dynamic blind area may affect the safe driving of the vehicle and even cause traffic accidents.

SUMMERY OF THE UTILITY MODEL

The purpose of this disclosure is to provide a cloud platform and vehicle of adjustable detection range to solve the problem that exists among the correlation technique.

In order to achieve the above object, the present disclosure provides a holder capable of adjusting a detection range, including:

the first end of the rotating shaft is connected with the driving motor and is used for being controlled by the driving motor to rotate;

a detection device mounting bracket provided on the rotation shaft for mounting a detection device, and swinging with rotation of the rotation shaft;

and the connecting mechanism is used for movably connecting the rotating shaft to a vehicle mounting surface.

Optionally, the connecting mechanism is a pan-tilt frame, and the pan-tilt frame is mounted on the vehicle mounting surface;

the first end of the rotating shaft is movably connected with the lower frame of the holder frame, and the second end of the rotating shaft is movably connected with the upper frame of the holder frame.

Optionally, the detection device mounting bracket is a polygonal frame;

the polygonal frame is located in the holder frame, a first end of the rotating shaft penetrates through a lower frame of the polygonal frame, and a second end of the rotating shaft penetrates through an upper frame of the polygonal frame.

Optionally, a distance between the vehicle mounting surface and the rotating shaft is greater than or equal to a product of a sin α and a maximum value of a first distance between a left frame of the polygonal frame and the rotating shaft and a second distance between a right frame of the polygonal frame and the rotating shaft, where α is a preset maximum angle of swing of the detection device mounting bracket.

Optionally, the cradle head further comprises: the device comprises a stabilizer mounting bracket, a first supporting frame and a second supporting frame;

the left frame of the holder frame is movably connected to the vehicle mounting surface through the first support frame and the right frame of the holder frame is movably connected to the vehicle mounting surface through the second support frame;

the stabilizer installing support is located on the detection device installing support and used for installing a stabilizer, wherein when the vehicle bumps or goes up and down a slope, the stabilizer is controlled by the first support frame and the second support frame to swing the holder frame so as to maintain the holder frame in a horizontal state.

Optionally, the cradle head further comprises: a holder controller, a camera,

the holder controller is connected with the driving motor and used for being connected with the vehicle control unit, receiving swing information and a control command sent by the vehicle control unit and controlling the driving motor to rotate according to the swing information when the control command used for representing the starting of swing is obtained, so that the detection device mounting bracket swings to a target angle, and the swing information at least comprises the target angle, a swing direction and a swing speed.

Optionally, the holder further comprises an angle sensor;

the angle sensor is used for being connected with the vehicle control unit, collecting the angle of the detection device mounting support and sending the collected angle to the vehicle control unit, so that the vehicle control unit can determine whether the detection device mounting support swings to the target angle.

Optionally, a preset maximum swinging angle of the detection device mounting bracket is stored in the pan-tilt controller;

the angle sensor is connected with the holder controller and used for sending the collected angle to the holder controller;

the holder controller is further configured to determine whether the angle of the detection device mounting bracket is smaller than the maximum angle when a control instruction for representing the start of swinging is received, and control the driving motor to rotate according to the swinging information when the angle and the target angle are both smaller than the maximum angle, so that the detection device mounting bracket swings to the target angle.

Optionally, the pan/tilt head controller is further configured to control the detection device mounting bracket to stop swinging when a control instruction for representing starting swinging is received, the angle is equal to the maximum angle and the target angle is greater than the angle, or when a control instruction for representing starting swinging is not received.

The present disclosure also provides a vehicle comprising: the vehicle body, detection device, and as this first face of this disclosure provides adjustable detection range's cloud platform, wherein, detection device is located on the detection device installing support in the cloud platform, the cloud platform is installed on the vehicle body.

Through the technical scheme, the cloud platform of adjustable detection range that this disclosure provided includes the axis of rotation, driving motor, coupling mechanism and the detection device installing support of setting in the axis of rotation, wherein, coupling mechanism connects axis of rotation movably on vehicle installation face, and the axis of rotation is rotated by driving motor's control, thus, can control the rotation of axis of rotation through driving motor, so that the axis of rotation can drive detection device installing support swing when rotating, thereby realize adjusting the purpose of installing the detection device's in detection device installing support detection device's detection range, and then reduce or eliminate the blind area that the vehicle formed when the turn, guarantee that the driving is complete, avoid the emergence of traffic accident.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a schematic diagram showing a detection range of a detection device mounted on a vehicle in the related art according to an exemplary embodiment.

Fig. 2 is a schematic diagram showing a detection range of a detection device mounted on a vehicle in the related art according to another exemplary embodiment.

Fig. 3 is a schematic diagram of a pan/tilt head with adjustable detection range according to an exemplary embodiment.

Fig. 4 is a schematic diagram of a pan/tilt head with adjustable detection range according to another exemplary embodiment.

Description of the reference numerals

1 rotating shaft 2 driving motor

3 detection device mounting bracket 4 connecting mechanism

5 stabilizer mounting bracket 6 first support frame

7 second support frame 8 pan-tilt controller

9 first end of rotating shaft of angle sensor 11

12 second end of the rotating shaft

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the related art, the cradle head for installing the detection device mostly adopts a fixed installation mode, and the purpose of adjusting the detection range cannot be met, so that the safe driving of a vehicle cannot be ensured.

For example, as shown in fig. 1, the area surrounded by the solid line is the detection range of the detection device mounted on the vehicle, and is denoted as an a area, and the vehicle inside the quarter turn is denoted as a B area. At this time, if the vehicle is in the automatic driving or the driving-assist mode, since the detection device does not detect the presence of the vehicle B, when the vehicle is controlled to turn through a quarter turn, a collision accident between the own vehicle and the vehicle B may be caused.

In the adaptive cruise mode, as shown in fig. 2, the area surrounded by the solid line is the detection range of the detection device mounted on the vehicle, and is denoted as the area C, the vehicle in front of the vehicle in the same lane as the host vehicle is denoted as the vehicle D, and the vehicle in the adjacent lane is denoted as the vehicle E. At this time, if the vehicle is in the automatic driving or the driving-assist mode, the host vehicle cannot continue to track the target vehicle D because the target vehicle D is not detected by the detection device mounted on the vehicle. Further, if the vehicle E of the adjacent lane is detected, additional judgment and processing of the vehicle may be added, for example, whether the vehicle of the adjacent lane has a lane change intention or not, and the like. If no vehicle in the adjacent lane is detected, the vehicle can run at an accelerated speed to shorten the distance from the original target vehicle D, so that the collision risk between the vehicle and the target vehicle D is increased.

In view of the above, the inventor provides a pan/tilt head with an adjustable detection range, considering that when a pedestrian passes through an intersection, the pedestrian turns around or turns eyes to see whether vehicles or other obstacles exist around.

In the present disclosure, unless otherwise stated, the use of the directional words such as "up, down, left, and right" generally refers to up, down, left, and right in the normal use state of the pan/tilt head with the detection range adjustable mounted on the vehicle mounting surface; the terms "first," "second," and the like as used herein are intended to distinguish one element from another, and not necessarily to distinguish between sequential or important elements; in the present disclosure, the driving direction of the vehicle is the X-axis direction, the transverse direction of the vehicle is the Y-axis direction, and the height direction of the vehicle is the Z-axis direction, and the term "horizontal state" used in the present disclosure generally means that the plane where the pan/tilt head is located is perpendicular to the horizontal ground when the vehicle drives on the horizontal ground.

Fig. 3 is a schematic diagram of a pan/tilt head with adjustable detection range according to an exemplary embodiment. As shown in fig. 3, the pan/tilt head with adjustable detection range may include: rotating shaft 1, driving motor 2, detection device installing support 3 and coupling mechanism 4.

The connecting mechanism 4 is used for movably connecting the rotating shaft 1 to a vehicle mounting surface. The vehicle mounting surface may be a head position of the vehicle, or other preset positions, and the like. The present disclosure does not specifically limit the shape and material of the connection mechanism 4, as long as it can movably connect the rotating shaft 1 to the vehicle mounting surface.

The first end 11 of the rotating shaft 1 is connected to the driving motor 2 for rotation under the control of the driving motor 2. Illustratively, in fig. 1, the rotary shaft 1 is vertically installed on a vehicle installation plane, and the first end 11 of the rotary shaft 1, which is the lower end of the rotary shaft, is connected to the driving motor 2, so that the rotary shaft 1 can rotate along the Z-axis when the driving motor 2 rotates. It should be noted that the rotating shaft 1 may also be transversely mounted on the vehicle mounting plane, in which case the rotating shaft 1 is also rotated along the Z-axis, and the present disclosure does not show a schematic view of the transverse mounting of the rotating shaft 1.

A detecting device mounting bracket 3 is provided on the rotary shaft 1 for mounting a detecting device, and the detecting device mounting bracket 3 swings with rotation of the rotary shaft 1. For example, when the rotating shaft 1 rotates along the Z-axis, the detecting device mounting bracket 3 may be driven to swing along the Z-axis. Wherein the detection device may be a laser radar, a millimeter wave radar, a camera, or the like. The present disclosure does not specifically limit this.

In a specific embodiment of the present disclosure, the connection mechanism 4 may be a cloud deck frame. Illustratively, as shown in fig. 4, the pan/tilt head frame is a rectangular frame that is mounted on the vehicle mount surface. Wherein, the first end 11 of the rotating shaft 1 is movably connected with the lower frame of the holder frame, and the second end 12 of the rotating shaft 1 is also movably connected with the upper frame of the holder frame. It should be noted that the height of the cradle head frame and the length of the rotating shaft 1 may be the same or different. The rotation shaft and the rectangular frame may be configured in any suitable manner.

The detector mounting bracket 3 may be a frame, and may be a polygonal frame, a circular frame, or the like. The present disclosure will be described by taking the detecting device mounting bracket 3 as a polygonal frame as an example. As shown in fig. 4, the polygonal frame is also a rectangular frame, and for the sake of distinction from the pan/tilt head frame, the polygonal frame is hereinafter referred to as a detection device mounting frame. The detecting device mounting frame is located in the pan/tilt head frame, and the first end 11 of the rotating shaft 1 penetrates through the lower frame of the detecting device mounting frame, and the second end 12 of the rotating shaft 1 penetrates through the upper frame of the detecting device mounting frame.

As shown in fig. 4, when the detection device mounting frame swings along with the rotating shaft 1, one side frame on the rotating shaft 1 swings in a direction away from the vehicle mounting surface, and accordingly, the other side frame swings in a direction closer to the vehicle mounting surface. For example, if the rotating shaft 1 rotates counterclockwise around the Z axis, the frame located on the left side of the rotating shaft 1 swings in a direction away from the vehicle mounting surface, and the frame located on the right side of the rotating shaft 1 swings in a direction close to the vehicle mounting surface, in order to allow the above-mentioned detecting device mounting frame to have a sufficient space for swinging, when the pan head is mounted on the vehicle mounting surface, it is required to ensure that the distance between the vehicle mounting surface and the rotating shaft 1 is greater than or equal to a fixed distance, which is a product of sin α and a maximum value of a first distance between the left frame of the detecting device mounting frame and the rotating shaft 1 and a second distance between the multi-frame and the rotating shaft 1, α is a preset maximum angle at which the detecting device mounting bracket 3 swings, which may be, for example, 30. The present disclosure does not specifically limit this.

So, can be through cloud platform frame with the mobilizable connection of axis of rotation 1 on vehicle installation face to, can drive detection device installation frame swing when the axis of rotation rotates, with the detection range of adjusting detection device.

The following description will be made of a complete embodiment using the head provided above.

The cloud platform that this disclosure provided can also include cloud platform controller 8, as shown in fig. 4, this cloud platform controller 8 links to each other with driving motor 2 to, cloud platform controller 8 still links to each other with vehicle control unit. The vehicle control unit can determine the swing information of the pan-tilt according to the planned vehicle running path or the detected curvature radius of the lane line, and send the swing information to the pan-tilt controller 8 connected with the vehicle control unit. In addition, the vehicle control unit may also send a control command for indicating whether to start swinging to the pan-tilt controller 8. Wherein the swing information includes at least a target angle, a swing direction, and a swing speed of the detecting device mounting bracket 3. The swing direction may be a leftward swing or a rightward swing, and illustratively, the swing direction is a leftward swing when the vehicle turns left, and the swing direction is a rightward swing when the vehicle turns right. It should be noted that the vehicle control unit may determine the swing information and send the control command according to the prior art.

In this way, the pan-tilt controller 8 may receive the swing information and the control instruction from the vehicle controller, and when acquiring the control instruction for representing the start of swing, control the driving motor 2 to rotate according to the swing information, so as to swing the detection device mounting bracket 3 to the target angle. Specifically, when the vehicle turns left, the target angle determined by the vehicle control unit is Swa, the swing direction is leftward swing, and the swing speed is Vr, the pan-tilt controller 8 controls the driving motor 2 to rotate, so that the detection device mounting bracket 3 swings leftward from the current angle to Swa at the speed of Vr.

It should be noted that, after receiving the swing information, the pan/tilt controller 8 may also adjust the angle of the Z axis by using a preset PID algorithm to achieve the actually required target angle and angle accuracy. The present disclosure does not specifically limit this algorithm.

In addition, as shown in fig. 4, the cradle head may further include an angle sensor 9, where the angle sensor 9 is configured to be connected to the vehicle control unit, and the angle sensor 9 is configured to collect an angle of the detection device mounting bracket 3 and send the angle to the vehicle control unit, so that the vehicle control unit determines whether the detection device mounting bracket 3 swings to a target angle.

By adopting the technical scheme, whether the device mounting bracket swings to a target angle can be determined through the vehicle control unit so as to determine whether the angle of the detection device mounting bracket is accurate.

As shown in fig. 4, the angle sensor 9 may further be connected to the pan/tilt controller 8, and the angle sensor 9 may further transmit the collected angle of the detection device mounting bracket 3 to the pan/tilt controller 8. The cloud end controller 8 stores a preset maximum swing angle of the detection device mounting support 3, when receiving a control instruction for representing starting swing, the cloud end controller 8 determines whether the angle of the detection device case support 3 is smaller than the maximum angle, and if the angle and the target angle are smaller than the maximum angle, the driving motor 2 is controlled to rotate according to swing information, so that the driving motor 2 drives the rotating shaft 1 to rotate along the Z-axis direction, and then the detection device mounting support 3 is driven to swing to the target angle along the Z-axis direction.

The cloud end controller 8 is further configured to control the detection device mounting bracket 3 to stop swinging when a control instruction for representing starting swinging is received, the angle of the detection device case bracket 3 is equal to the maximum angle, and the target angle is greater than the angle, or when a control instruction for representing starting swinging is not received.

So, through above-mentioned technical scheme, can guarantee that detection device installing support wobbling angle is no longer than the biggest angle of predetermineeing to make the reliability that detection device detected, and the integration accuracy of detection device and cloud platform.

It should be noted that, after the detection device mounting bracket 3 swings to the target angle, it can also swing back and forth between the preset angle and the target angle to expand the detection range of the detection device. Wherein the preset angle is the angle of the detection device mounting bracket 3 set by the user when mounting the head, which is typically 0 °.

In practical application, the cradle head or the detection device mounting bracket 3 can move when the vehicle is in large bump during running and on an up-and-down slope, so that the obstacle information around the vehicle detected by the detection device shakes. For example, assuming that the pan/tilt head is installed at the head position of the vehicle, when the vehicle goes up a slope, the head of the vehicle is inclined upward, causing the pan/tilt head to be inclined upward equivalently to the horizontal direction. At this time, in order to keep the pan/tilt head in the horizontal state, it is necessary to control the pan/tilt head to swing downward, that is, to control the pan/tilt head to swing clockwise along the Y axis. When the vehicle goes downhill, the head of the vehicle is inclined downwards, resulting in the horizontal downward inclination of the pan-tilt head. At this time, in order to keep the pan/tilt head in the horizontal state, it is necessary to control the pan/tilt head to swing upward, that is, to control the pan/tilt head to swing counterclockwise along the Y axis.

Therefore, in the present disclosure, as shown in fig. 4, the head may further include a stabilizer mounting bracket 5, and the stabilizer mounting bracket 5 is located on the detection device mounting bracket 3 for mounting the stabilizer. Wherein the stabilizer may be a gyroscope or the like. The stabilizer is used for working when the holder inclines, and controlling the holder to swing so as to maintain the holder to be in a horizontal state. As shown in fig. 4, in order to make the head frame swingable, the head may further include a first support frame 6 and a second support frame 7. Wherein, the left frame of cloud platform frame passes through first support frame 6, and the right frame of cloud platform frame passes through second support frame 7 movably to be connected on the vehicle installation face. Illustratively, a first groove adapted to the first support bracket 6 and a second groove adapted to the second support bracket 7 are provided at the vehicle mount face. The first support frame 6 is arranged on the outer side of the left frame of the holder frame, and the first support frame 6 is positioned in the first groove; the second support frame 7 is arranged on the outer side of the right frame of the holder frame, and the second support frame 7 is positioned in the second groove. So, when the vehicle jolts or goes up and down a slope, the stabilizer passes through first support frame 6 and second support frame 7 and drives the rotation of cloud platform frame to maintain cloud platform frame and be in the level and face to the state. It should be noted that, as shown in fig. 4, when the cradle head frame swings left and right along with the vehicle, the cradle head frame drives the rotating shaft 1 to swing, and further drives the detecting device mounting bracket 3 to swing, so that the cradle head frame and the detecting device mounting bracket 3 can swing synchronously, and the whole cradle head is always in a horizontal state.

Therefore, the purpose of adjusting the detection range of the detection device installed in the detection device installation support can be achieved, the blind area formed when the vehicle turns is reduced or eliminated, the complete driving is guaranteed, traffic accidents are avoided, and shaking can be prevented, so that the obstacle information detected by the detection device is stable.

Based on the same inventive concept, the present disclosure also provides a vehicle, comprising: the vehicle body, detection device, and as this disclosure provides adjustable detection range's cloud platform, wherein, detection device is located on the detection device installing support in the cloud platform, the cloud platform is installed on the vehicle body.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. The utility model provides a cloud platform of adjustable detection range which characterized in that includes:

the first end (11) of the rotating shaft is connected with the driving motor (2) and is used for being controlled by the driving motor (2) to rotate;

a detection device mounting bracket (3) provided on the rotating shaft (1) for mounting a detection device, and the detection device mounting bracket (3) swings with the rotation of the rotating shaft (1);

the connecting mechanism (4) is used for movably connecting the rotating shaft (1) to a vehicle mounting surface.

2. A head according to claim 1, wherein said connection means (4) is a head frame mounted on said vehicle mounting surface;

the first end (11) of axis of rotation (1) with the lower frame swing joint of cloud platform frame, and, the second end (12) of axis of rotation with the last frame swing joint of cloud platform frame.

3. A head according to claim 2, wherein said detection device mounting bracket (3) is a polygonal frame;

the polygonal frame is located in the holder frame, a first end (11) of the rotating shaft (1) penetrates through a lower frame of the polygonal frame, and a second end (12) of the rotating shaft (1) penetrates through an upper frame of the polygonal frame.

4. A head according to claim 3, wherein the distance between said vehicle mounting surface and said rotation axis (1) is greater than or equal to the product of sin α, the maximum of the first distance between the left border of said polygonal frame and said rotation axis (1) and the second distance between the right border of said polygonal frame and said rotation axis (1), α being the preset maximum angle of oscillation of said detecting means mounting bracket (3).

5. A head according to claim 2, wherein said head further comprises: the device comprises a stabilizer mounting bracket (5), a first support frame (6) and a second support frame (7);

the left frame of the holder frame is movably connected to the vehicle mounting surface through the first support frame (6) and the right frame of the holder frame is movably connected to the vehicle mounting surface through the second support frame (7);

the stabilizer mounting bracket (5) is positioned on the detection device mounting bracket (3) and used for mounting a stabilizer, wherein when the vehicle bumps or goes up and down a slope, the stabilizer is controlled by the first support frame (6) and the second support frame (7) to swing up and down the holder frame so as to maintain the holder frame in a horizontal state.

6. A head according to claim 1, wherein said head further comprises: a holder controller (8),

the holder controller (8) is connected with the driving motor (2) and used for being connected with a vehicle control unit, receiving swing information and a control instruction sent by the vehicle control unit, and controlling the driving motor (2) to rotate according to the swing information when the control instruction used for representing the start of swing is obtained, so that the detection device mounting support (3) swings to a target angle, wherein the swing information at least comprises the target angle, a swing direction and a swing speed.

7. A head according to claim 6, wherein said head further comprises an angle sensor (9);

the angle sensor (9) is used for being connected with the vehicle control unit, collecting the angle of the detection device mounting support (3), and sending the collected angle to the vehicle control unit, so that the vehicle control unit can determine whether the detection device mounting support (3) swings to the target angle.

8. A head according to claim 7, wherein said head controller (8) has stored therein a preset maximum angle of oscillation of said detecting device mounting bracket (3);

the angle sensor (9) is connected with the holder controller (8) and used for sending the collected angle to the holder controller (8);

the holder controller (8) is further configured to determine whether the angle of the detection device mounting bracket (3) is smaller than the maximum angle or not when a control instruction for representing the start of swinging is received, and control the driving motor (2) to rotate according to the swinging information when the angle and the target angle are smaller than the maximum angle, so that the detection device mounting bracket (3) swings to the target angle.

9. A head according to claim 7, wherein said head controller (8) has stored therein a preset maximum angle of oscillation of said detecting device mounting bracket (3);

the holder controller (8) is further configured to control the detection device mounting bracket (3) to stop swinging when a control instruction for representing starting swinging is received, the angle is equal to the maximum angle and the target angle is greater than the angle, or when a control instruction for representing starting swinging is not received.

10. A vehicle, characterized by comprising: a vehicle body, a detection device, and the detection range adjustable pan/tilt head of any one of claims 1-9, wherein the detection device is located on a detection device mounting bracket in the pan/tilt head, the pan/tilt head being mounted on the vehicle body.