CN218112510U

CN218112510U - Unmanned device based on laser radar

Info

Publication number: CN218112510U
Application number: CN202222825930.3U
Authority: CN
Inventors: 李科磊; 张丹红; 邓坤鹏
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2022-12-23
Anticipated expiration: 2032-10-26

Abstract

The utility model discloses an unmanned driving device based on laser radar, its structure includes unmanned vehicle body and sets up at the left drive wheel in unmanned vehicle body bottom and sets up the reverse wheel on unmanned vehicle body bottom right side, control panel is installed to unmanned vehicle body front end bolt, inside unmanned vehicle body through having set up protection machanism, drive first mounting panel and laser radar displacement that makes progress through high accuracy cylinder, and then make laser radar extrusion guard plate rotate under the rotation of spacing hinge and reset torsion spring and the reset action, be favorable to improving the drive and the protecting effect to laser radar, through having set up steering mechanism inside unmanned vehicle body, drive transmission gear through the steering motor and carry out the transmission, and it is spacing to rotate transmission gear group under torque sensor's monitoring action and gear motor's deceleration, thereby be favorable to improving the signal establishment execution effect to steering motor unmanned vehicle body and reverse wheel under laser radar's monitoring action.

Description

Unmanned device based on laser radar

Technical Field

The utility model relates to an unmanned technology field, concretely relates to unmanned device based on laser radar.

Background

With the development of society, vehicles in the world are more and more, so that events such as traffic jam, vehicle accidents and the like are frequent, and the unmanned technology is about to bring subversive change to the automobile business model, which is probably the most important change in the automobile industry since the invention of an internal combustion engine; unmanned vehicles have made such a great revolution in the automotive industry because the impact of unmanned vehicles is unprecedented.

In the prior art, most of the laser radars lack a protection part and are directly arranged on the surface of a vehicle body, so that the laser radars are easily influenced by the outside to reduce the monitoring precision; meanwhile, in the prior art, the radar detection and step execution precision is poor, and the steering component has a large adjustment single distance, so that the phenomenon that the unmanned vehicle is easy to collide due to poor control precision is caused.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

In order to overcome the defects of the prior art, the unmanned device based on the laser radar is provided, and the problem that the laser radar is easily influenced by the outside to reduce the monitoring precision due to the fact that the laser radar is mostly directly arranged on the surface of a vehicle body because the laser radar mostly lacks a protective part for the laser radar in the prior art is solved; meanwhile, in the prior art, the radar detection and step execution precision is poor, and the adjustment single distance of a steering component is large, so that the problem that the unmanned vehicle is easy to collide due to poor control precision is caused.

(II) technical scheme

The utility model discloses a following technical scheme realizes: the utility model provides an unmanned driving device based on laser radar, including unmanned vehicle body and setting at the left drive wheel in unmanned vehicle body bottom and the reversing wheel of setting on unmanned vehicle body bottom right side, control panel is installed to unmanned vehicle body front end bolt, unmanned vehicle body bottom driving piece is connected with control panel electricity, still including setting up at inside protection machanism and the steering mechanism of unmanned vehicle body, protection machanism includes that the fixed plate and the bolt of bolt installation in unmanned vehicle body top left and right sides are installed at the inside high accuracy cylinder of unmanned vehicle body, fixed plate left end and right-hand member welded fastening respectively have spacing hinge, spacing hinge rotates the piece and fixes the torsional spring that resets in the spacing hinge pivot outside at the guard plate left and right sides and elastic mounting respectively through the welding, high accuracy cylinder top catch bar bolt is installed all around first mounting panel bottom, the servo motor that plays the transmission effect is installed to first mounting panel bottom bolt and the transmission shaft that the bolt was installed in first mounting panel bottom, laser radar is installed to servo motor top bolt, high accuracy cylinder, laser radar and servo motor and gyroscope all are connected with the control panel electricity.

Further, turn to the mechanism and include that the bolt is installed at the second mounting panel of this internal right side diaphragm bottom of unmanned car, second mounting panel top bolt is installed and is played the third mounting panel of turning to motor and bolt installation in second mounting panel bottom of transmission, turn to motor bottom transmission shaft fixed mounting have drive gear group and fixed mounting at the torque sensor who turns to motor bottom transmission shaft, the centre of a circle through-hole and gear motor bottom transmission shaft fixed connection of drive gear group front end gear, drive gear group front end gear bottom and steering column fixed mounting, turn to motor and torque sensor and gear motor all with control panel electric connection.

Furthermore, the rotation angle interval of the reset torsion spring and the protection plate is equal, and a spongy cushion is arranged on the bottom side of the protection plate.

Furthermore, four groups of high-precision air cylinders are arranged at the bottom of the first mounting plate, and the first mounting plate and the top plate of the unmanned vehicle body are in parallel relation.

Furthermore, the bottom of the second mounting plate is provided with a connecting rod which plays a role in adjustment, and the connecting rod is fixedly connected with the top of the third mounting plate.

Furthermore, the protection plate is made of steel.

Furthermore, the transmission gear set is made of high-carbon steel.

(III) advantageous effects

Compared with the prior art, the utility model, following beneficial effect has:

1) Unmanned device based on laser radar through having set up protection machanism inside unmanned vehicle body, drives first mounting panel and laser radar displacement that makes progress through high accuracy cylinder, and then makes laser radar extrusion guard plate rotate under the rotation and the reset action of spacing hinge and reset torsion spring, is favorable to improving drive and the protecting effect to laser radar.

2) Unmanned device based on laser radar, inside the unmanned car body through having set up steering mechanism, drive transmission gear through turning to the motor and organize and carry out the transmission to it is spacing to rotate transmission gear under torque sensor's monitoring action and gear motor's deceleration, thereby is favorable to improving the signal establishment execution effect to turning to motor unmanned car body and reversing wheel under laser radar's monitoring action.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the present invention;

fig. 2 is an enlarged schematic structural view of a point a in fig. 1 according to the present invention;

fig. 3 is a schematic view of a three-dimensional structure of the unmanned vehicle body and the protection mechanism of the present invention;

FIG. 4 is a schematic view of the three-dimensional structure of the protection mechanism of the present invention;

fig. 5 is a schematic view of a three-dimensional structure of the steering mechanism of the present invention.

In the figure: the unmanned vehicle comprises an unmanned vehicle body-1, a driving wheel-2, a reversing wheel-3, a protection mechanism-4, a steering mechanism-5, a control panel-6, a fixing plate-41, a limiting hinge-42, a reset torsion spring-43, a protection plate-44, a high-precision cylinder-45, a first mounting plate-46, a laser radar-47, a servo motor-48, a gyroscope-49, a second mounting plate-51, a steering motor-52, a transmission gear set-53, a torque sensor-54, a third mounting plate-55, a speed reduction motor-56 and a steering rod-57.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The first embodiment is as follows:

referring to fig. 1, the present invention provides a laser radar-based drone: including unmanned vehicle body 1 with set up at the left drive wheel 2 in unmanned vehicle body 1 bottom and set up at the reverse wheel 3 on unmanned vehicle body 1 bottom right side, control panel 6 is installed to 1 front end bolt of unmanned vehicle body, and driving piece and the 6 electricity of control panel are connected in unmanned vehicle body 1 bottom.

Referring to fig. 2, 3 and 4, the present invention provides a laser radar-based unmanned aerial vehicle device, further comprising a protection mechanism 4 and a steering mechanism 5 arranged inside the unmanned vehicle body 1, wherein the protection mechanism 4 comprises a fixing plate 41 and a high-precision cylinder 45, the fixing plate is mounted on the left and right sides of the top of the unmanned vehicle body 1 by bolts, the high-precision cylinder 45 is mounted inside the unmanned vehicle body 1 by bolts, the unmanned vehicle body 1 provides an installation effect for the high-precision air cylinder 45, the left end and the right end of the fixed plate 41 are respectively welded and fixed with a limit hinge 42, the rotating parts of the limit hinge 42 are respectively fixed on the left side and the right side of the protection plate 44 through welding and a reset torsion spring 43 elastically installed on the outer side of the rotating shaft of the limit hinge 42, the limiting hinge 42 provides limiting effect for the rotation of the protection plate 44, the bolts of the push rod at the top of the high-precision cylinder 45 are arranged around the bottom of the first installation plate 46, the bolts at the bottom of the first installation plate 46 are provided with a servo motor 48 with transmission function and a gyroscope 49 with bolts arranged at the bottom of the first installation plate 46, the bolts of the transmission shaft at the top of the servo motor 48 are provided with a laser radar 47, the servo motor 48 provides a transmission effect for the laser radar 47, the high-precision air cylinder 45, the laser radar 47, the servo motor 48 and the gyroscope 49 are all electrically connected with the control panel 6 to provide electric energy for the high-precision air cylinder 45, the laser radar 47, the servo motor 48 and the gyroscope 49, the rotation angle interval of the reset torsion spring 43 and the protection plate 44 is 90 degrees, and the bottom side of the protection plate 44 is provided with a spongy cushion to improve the reset effect of the reset torsion spring 43, the bottom of the first mounting plate 46 is provided with four groups of high-precision cylinders 45, and first mounting panel 46 is parallel relation with unmanned car body 1 roof, improves the adjusting effect of high accuracy cylinder 45 to first mounting panel 46.

Please refer to fig. 5, the utility model provides an unmanned device based on laser radar, steering mechanism 5 includes the second mounting panel 51 of bolt installation in unmanned vehicle body 1 right side diaphragm bottom, second mounting panel 51 top bolt is installed and is played the steering motor 52 and the third mounting panel 55 of bolt installation in second mounting panel 51 bottom of transmission, provide the installation effect for steering motor 52 through second mounting panel 51, steering motor 52 bottom transmission shaft fixed mounting has drive gear group 53 and fixed mounting at the torque sensor 54 of steering motor 52 bottom transmission shaft, the centre of a circle through-hole of drive gear group 53 front end gear and gear motor 56 bottom transmission shaft fixed connection, provide the speed reduction effect for drive gear group 53 through gear motor 56, drive gear group 53 front end gear bottom and steering column 57 fixed mounting, steering motor 52 and torque sensor 54 and gear motor 56 all are connected with control panel 6 electricity, provide the electric energy for steering motor 52 and torque sensor 54 and gear motor 56, second mounting panel 51 bottom is equipped with the connecting rod that plays the regulation effect, and this connecting rod and third mounting panel 55 top fixed connection, improve the installation regulation effect of second mounting panel 51 and third mounting panel 55.

The second embodiment:

the utility model provides a unmanned device based on laser radar: guard plate 44 bottom contacts with laser radar 47 outside, provide the safeguard effect for laser radar 47 through guard plate 44, the top contacts with first mounting panel 46 in the unmanned vehicle body 1, provide the safeguard effect for unmanned vehicle body 1 top through-hole through first mounting panel 46, first mounting panel 46 top is rotated with laser radar 47 bottom and is connected, steering column 57 is connected with the transmission of the inside steering member of unmanned vehicle body 1, provide the transmission effect for the inside steering member of unmanned vehicle body 1 through steering column 57.

The utility model provides an unmanned device based on laser radar through improvement, and the working principle is as follows;

firstly, when the equipment is used, the device is firstly placed in a working area, and then the equipment is connected with an external power supply, so that the required electric energy can be provided for the work of the equipment;

secondly, when monitoring the periphery of the unmanned vehicle body 1, a user can control the high-precision air cylinder 45 to work through the control panel 6, so that the high-precision air cylinder drives the first mounting plate 46 and the laser radar 47 to move upwards, and the laser radar 47 extrudes the protection plate 44 to turn over;

thirdly, at the moment, the turning effect is provided for the protection plate 44 through the rotation and reset actions of the limiting hinge 42 and the reset torsion spring 43, the servo motor 48 drives the laser radar 47 to perform angle adjustment action, the driving and protection effects on the laser radar 47 are favorably improved, and then an electric signal detected by the laser radar 47 is transmitted to the control panel 6, so that the control panel works through controlling the steering motor 52, and the control panel drives the transmission gear set 53 to perform transmission;

fourthly, the rotation of the transmission gear set 53 can be monitored for angle and decelerated through the monitoring function of the torque sensor 54 and the deceleration function of the deceleration motor 56, so that the signal compiling and executing effects of the unmanned vehicle body 1 and the reversing wheel 3 of the steering motor 52 under the monitoring function of the laser radar 47 can be improved.

Unmanned device based on laser radar, through having set up protection machanism 4 inside unmanned vehicle body 1, drive first mounting panel 46 and laser radar 47 displacement upwards through high accuracy cylinder 45, and then make laser radar 47 extrusion guard plate 44 rotate under the rotation and the reset action of spacing hinge 42 and reduction torsion spring 43, be favorable to improving drive and the protecting effect to laser radar 47, through having set up steering mechanism 5 inside unmanned vehicle body 1, drive transmission gear group 53 through steering motor 52 and carry out the transmission, and it is spacing to rotate transmission gear group 53 under torque sensor 54's monitoring effect and gear motor 56's deceleration, thereby be favorable to improving the signal establishment execution effect to steering motor 52 unmanned vehicle body 1 and reverse wheel 3 under laser radar 47's monitoring effect.

Claims

1. The unmanned device based on the laser radar comprises an unmanned vehicle body (1) and a driving wheel (2) arranged on the left side of the bottom of the unmanned vehicle body (1); the method is characterized in that: still including setting up at inside protection machanism (4) and steering mechanism (5) of unmanned vehicle body (1), protection machanism (4) are installed at inside high accuracy cylinder (45) of unmanned vehicle body (1) including fixed plate (41) and the bolt of bolt installation in unmanned vehicle body (1) the top left and right sides, fixed plate (41) left end and right-hand member welded fastening respectively have spacing hinge (42), spacing hinge (42) rotate the piece and fix respectively in guard plate (44) left and right sides and elastic mounting at the reset torsion spring (43) in spacing hinge (42) pivot outside through the welding, high accuracy cylinder (45) top catch bar bolt is installed around first mounting panel (46) bottom, servo motor (48) and the gyroscope (49) of bolt installation in first mounting panel (46) bottom that play the drive effect are installed to first mounting panel (46) bottom bolt, laser radar (47) are installed to servo motor (48) top transmission shaft bolt, high accuracy cylinder (45), laser radar (47) and servo motor (48) and gyroscope (49) are all connected with control panel (6) electricity.

2. The lidar-based drone of claim 1, wherein: steering mechanism (5) include second mounting panel (51) of bolt installation right side diaphragm bottom in unmanned car body (1), third mounting panel (55) in second mounting panel (51) bottom are installed to second mounting panel (51) top bolt installation steering motor (52) and bolt that play the transmission and are played.

3. The lidar-based drone of claim 1, wherein: the unmanned vehicle is characterized in that a reversing wheel (3) and a control panel (6) installed at the front end of the unmanned vehicle body (1) through a bolt are arranged on the right side of the bottom of the unmanned vehicle body (1), and a driving piece at the bottom of the unmanned vehicle body (1) is electrically connected with the control panel (6).

4. The lidar-based drone of claim 2, wherein: the steering motor (52) bottom transmission shaft is fixedly provided with a transmission gear set (53) and a torque sensor (54) fixedly arranged on the steering motor (52) bottom transmission shaft, and a circle center through hole of a front end gear of the transmission gear set (53) is fixedly connected with a bottom transmission shaft of a speed reducing motor (56).

5. The lidar-based drone of claim 4, wherein: the bottom of the front end gear of the transmission gear set (53) is fixedly installed with a steering rod (57), and the steering motor (52), the torque sensor (54) and the speed reducing motor (56) are electrically connected with the control panel (6).

6. The lidar-based drone of claim 1, wherein: the rotation angle interval of the reset torsion spring (43) and the protection plate (44) is 90 degrees, and a spongy cushion is arranged on the bottom side of the protection plate (44).

7. The lidar-based drone of claim 1, wherein: four groups of high-precision cylinders (45) are arranged at the bottom of the first mounting plate (46), and the first mounting plate (46) and a top plate of the unmanned vehicle body (1) are in parallel relation.

8. The lidar-based drone of claim 2, wherein: the bottom of the second mounting plate (51) is provided with a connecting rod which plays a role in adjustment, and the connecting rod is fixedly connected with the top of the third mounting plate (55).