CN212950418U

CN212950418U - Intelligent obstacle-avoiding unmanned bus adopting laser ranging

Info

Publication number: CN212950418U
Application number: CN202021631808.7U
Authority: CN
Inventors: 刘明; 黄蓉; 潘芸; 林锶安; 陈波; 杨伟东
Original assignee: Zhejiang Guoxin Technology Co ltd
Current assignee: Zhejiang Guoxin Technology Co ltd
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2021-04-13
Anticipated expiration: 2030-08-07

Abstract

The utility model provides an adopt laser rangefinder's intelligence to keep away barrier unmanned bus, including the bus shell, the equal fixed mounting in both sides on bus shell top has the mounting bracket, the equal fixed mounting in middle part on two mounting bracket tops has the fixed plate, the equal fixed mounting in top of two fixed plates has laser radar sensor, the equal fixed mounting in both sides of bus shell bottom has the wheel, the one end fixed mounting of bus shell has windshield, windshield's bottom is equipped with the camera of fixed mounting in bus shell one end, one side fixed mounting of bus shell has left side range finding sensor, the opposite side fixed mounting of bus shell has right side range finding sensor. The utility model has the advantages that: the intelligent obstacle avoidance method has the advantages that the intelligent obstacle avoidance method is used for carrying out laser ranging on the unmanned bus in the driving process through the set laser radar, the laser radar has the advantages of high detection precision, wide detection range, strong stability and the like, the detection precision of the laser radar far exceeds that of a millimeter wave radar in the aspect of accuracy, and the driving safety of the unmanned bus is improved.

Description

Intelligent obstacle-avoiding unmanned bus adopting laser ranging

Technical Field

The utility model belongs to the technical field of unmanned driving equipment, concretely relates to adopt laser rangefinder's intelligence to keep away barrier unmanned bus.

Background

The unmanned bus is an intelligent automobile which realizes unmanned driving through a computer system, and the unmanned bus depends on the cooperation of artificial intelligence, visual calculation, radar, a monitoring device and a global positioning system, so that a computer can automatically and safely operate a motor vehicle without any human active operation.

The existing unmanned bus generally uses the millimeter wave radar to measure the distance, but the detection distance of the millimeter wave radar is directly restricted by the loss of the frequency band, so that the pedestrian cannot be sensed, all surrounding obstacles cannot be accurately modeled, the driving safety of the unmanned bus is reduced, and meanwhile, the existing unmanned bus cannot rapidly obtain the position of the unmanned bus and the ground condition during driving.

Disclosure of Invention

An object of the utility model is to provide an adopt laser rangefinder's intelligence to keep away barrier unmanned bus aims at solving traditional unmanned bus and generally uses the millimeter wave radar to range finding among the prior art, but the detection distance of millimeter wave radar receives the direct restriction of frequency channel loss, and the problem of the position of acquireing oneself and the ground condition that can not be quick with traditional unmanned bus.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an adopt laser rangefinder's intelligence to keep away barrier unmanned bus, includes the bus shell, the equal fixed mounting in both sides on bus shell top has the mounting bracket, two the equal fixed mounting in middle part on mounting bracket top has the fixed plate, two the equal fixed mounting in top of fixed plate has laser radar sensor, the equal fixed mounting in both sides of bus shell bottom has the wheel, the one end fixed mounting of bus shell has windshield, windshield's bottom is equipped with the camera of fixed mounting in bus shell one end, one side fixed mounting of bus shell has left side range sensor, the opposite side fixed mounting of bus shell has right side range sensor, the middle part fixed mounting on bus shell top has the controller shell.

In order to make the singlechip with obstacle distance information transmission that range sensor found to embedded total control system, as the utility model relates to an it is preferred, inside fixedly connected with singlechip, power supply circuit, drive circuit and the embedded total control system of controller shell, the singlechip through the first serial ports, second serial ports, third serial ports, fourth serial ports and the fifth serial ports that set up respectively with laser radar sensor, camera, left side range sensor, right side range sensor, embedded total control system electric connection, singlechip and power supply circuit and drive circuit electric connection.

In order to make be convenient for remind the back car and provide the illumination, conduct the utility model relates to an it is preferred, the equal fixed mounting in both sides of bus shell one end has the front light, the equal fixed mounting in both sides of the bus shell other end has the tail lamp.

In order to make things convenient for the passenger to get on or off the bus and adapt to the quick bus lane of city installation now, as the utility model relates to an it is preferred, the equal fixed mounting of one end of bus shell both sides has the front door, the equal fixed mounting of one end of bus shell both sides has the back door.

In order to increase the brightness of the bus compartment, the utility model discloses an it is preferable, four transparent windows are all fixedly mounted to the both sides on bus shell top.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the intelligent obstacle avoidance method for carrying out laser ranging on the unmanned bus in the driving process through the arranged laser radar has the advantages of high detection precision, wide detection range, strong stability and the like, the accuracy of the laser radar is far higher than that of a millimeter wave radar, and the driving safety of the unmanned bus is improved;

(2) the driving condition of the bus body can be known at any time through the left distance measuring sensor and the right distance measuring sensor, the position of the bus body can be quickly obtained, the control is facilitated, the arranged camera can timely identify obstacles such as traffic lights, sidewalks and the like, and then the obtained data are transmitted to the embedded type master control system to control the bus, so that the safety is improved;

(3) the transparent window is installed at the top of the bus, the brightness of a bus compartment is increased, the comfort level of taking the bus is improved, a large number of bus special lanes and BRT bus stations are generally arranged in the current city, the doors are installed on two sides of the bus, and the applicability of the unmanned bus is improved.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the present invention;

FIG. 3 is a schematic front view of the structure of the present invention;

FIG. 4 is a schematic side view of the structure of the present invention;

FIG. 5 is a schematic diagram of the hardware block diagram of the present invention;

in the figure: 1. a bus shell; 2. a mounting frame; 3. a fixing plate; 4. a laser radar sensor; 5. a wheel; 6. a tail light; 7. a headlamp; 8. a camera; 9. a front door; 10. a rear door; 11. a windshield; 12. a transparent vehicle window; 13. a left side ranging sensor; 14. a right ranging sensor; 15. a controller housing; 16. a single chip microcomputer; 17. a power supply circuit; 18. a drive circuit; 19. an embedded master control system.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides the following technical solutions: the utility model provides an adopt laser rangefinder's intelligence to keep away barrier unmanned bus, including bus shell 1, the equal fixed mounting in both sides on bus shell 1 top has mounting bracket 2, the equal fixed mounting in middle part on two mounting bracket 2 tops has fixed plate 3, the equal fixed mounting in top of two fixed plates 3 has laser radar sensor 4, the equal fixed mounting in both sides of bus shell 1 bottom has wheel 5, the one end fixed mounting of bus shell 1 has windshield 11, windshield 11's bottom is equipped with fixed mounting in the camera 8 of bus shell 1 one end, one side fixed mounting of bus shell 1 has left side range sensor 13, the opposite side fixed mounting of bus shell 1 has right side range sensor 14, the middle part fixed mounting on bus shell 1 top has controller shell 15.

Preferably, inside fixedly connected with singlechip 16 of controller shell 15, power supply circuit 17, drive circuit 18, and embedded total control system 19, singlechip 16 through the first serial ports that set up, the second serial ports, the third serial ports, fourth serial ports and fifth serial ports respectively with lidar sensor 4, camera 8, left side range finding sensor 13, right side range finding sensor 14, embedded total control system 19 electric connection, singlechip 16 and power supply circuit 17 and drive circuit 18 electric connection.

When the system is used, the distance data of obstacles around the unmanned bus during driving are measured by the singlechip 16 (with the model of 'RS-LiDAR-16'), the camera 8, the left distance measuring sensor 13 (with the model of 'TF-Luna') and the right distance measuring sensor 14 (with the model of 'TF-Luna') through the first serial port, the second serial port, the third serial port and the fourth serial port respectively through the first serial port, the second serial port, the third serial port and the fourth serial port, then the data are processed and analyzed, the obtained distance information of the obstacles is filtered and subjected to mean value processing, the distance value of the obstacles which is close to the real measurement is obtained, the data are sent to the embedded master control system 19 through the fifth serial port, the embedded master control system 19 sends a command to the wheel 5 control system of the unmanned bus after receiving the distance information of the obstacles, the wheels 5 are controlled, the speed and the direction are controlled, the set camera 8 identifies obstacles such as traffic lights, sidewalks and the like, and then the obtained data is transmitted to the embedded type master control system 19.

Preferably, both sides of one end of the bus shell 1 are fixedly provided with front lamps 7, and both sides of the other end of the bus shell 1 are fixedly provided with tail lamps 6.

During the specific use, the driving condition of the bus accessories is obtained through the arranged laser radar sensor 4, the rear vehicle is reminded in time through the arranged tail lamp 6, the driving safety is enhanced, and the lighting is provided through the arranged front lamp 7, so that the bus can drive at night conveniently.

Preferably, a front door 9 is fixedly mounted at one end of each of two sides of the bus shell 1, and a rear door 10 is fixedly mounted at one end of each of two sides of the bus shell 1.

When the intelligent obstacle-avoiding unmanned bus is used specifically, when the bus arrives at a station, the front door 9 and the rear door 10 on one side are opened simultaneously, passengers can get on or off the bus conveniently, a large number of special lanes for the bus and BRT bus stations are generally arranged in the current city, the front door 9 and the rear door 10 are arranged on two sides of the bus shell 1 arranged, and the applicability of the intelligent obstacle-avoiding unmanned bus with the laser ranging function is improved.

Preferably, four transparent windows 12 are fixedly arranged on two sides of the top end of the bus shell 1.

When the bus shell is used specifically, the four transparent vehicle windows 12 are arranged at the top end of the bus shell 1, so that the brightness of a bus compartment is increased, and the comfort level of taking the bus is improved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an adopt laser rangefinder's intelligence to keep away barrier unmanned bus, includes bus car shell (1), its characterized in that: mounting frames (2) are fixedly mounted on two sides of the top end of the bus shell (1), fixing plates (3) are fixedly mounted in the middle of the top ends of the two mounting frames (2), laser radar sensors (4) are fixedly mounted on the top ends of the two fixing plates (3), wheels (5) are fixedly arranged on both sides of the bottom of the bus shell (1), a windshield (11) is fixedly arranged at one end of the bus shell (1), the bottom of the windshield (11) is provided with a camera (8) fixedly arranged at one end of the bus shell (1), a left distance measuring sensor (13) is fixedly arranged on one side of the bus shell (1), the other side of the bus shell (1) is fixedly provided with a right distance measuring sensor (14), and a controller shell (15) is fixedly arranged in the middle of the top end of the bus shell (1).

2. The intelligent obstacle avoidance unmanned bus adopting the laser ranging as claimed in claim 1, wherein: inside fixedly connected with singlechip (16), power supply circuit (17), drive circuit (18) and embedded total control system (19) of controller shell (15), singlechip (16) through the first serial ports, second serial ports, third serial ports, fourth serial ports and the fifth serial ports that set up respectively with laser radar sensor (4), camera (8), left side range finding sensor (13), right side range finding sensor (14), embedded total control system (19) electric connection, singlechip (16) and power supply circuit (17) and drive circuit (18) electric connection.

3. The intelligent obstacle avoidance unmanned bus adopting the laser ranging as claimed in claim 1, wherein: both sides of one end of the bus shell (1) are fixedly provided with front lamps (7), and both sides of the other end of the bus shell (1) are fixedly provided with tail lamps (6).

4. The intelligent obstacle avoidance unmanned bus adopting the laser ranging as claimed in claim 1, wherein: the bus shell is characterized in that front doors (9) are fixedly mounted at one ends of two sides of the bus shell (1), and rear doors (10) are fixedly mounted at one ends of two sides of the bus shell (1).

5. The intelligent obstacle avoidance unmanned bus adopting the laser ranging as claimed in claim 1, wherein: and four transparent vehicle windows (12) are fixedly arranged on two sides of the top end of the bus shell (1).