CN218512638U - Vehicle-mounted measuring system and vehicle - Google Patents
Vehicle-mounted measuring system and vehicle Download PDFInfo
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- CN218512638U CN218512638U CN202221885203.XU CN202221885203U CN218512638U CN 218512638 U CN218512638 U CN 218512638U CN 202221885203 U CN202221885203 U CN 202221885203U CN 218512638 U CN218512638 U CN 218512638U
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- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 239000010720 hydraulic oil Substances 0.000 claims description 14
- 238000012806 monitoring device Methods 0.000 claims description 12
- 230000000087 stabilizing effect Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013480 data collection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model relates to a vehicle-mounted measurement system and vehicle, vehicle-mounted measurement system include laser radar elevating system, laser radar rotary mechanism and laser radar. The laser radar lifting mechanism comprises mechanical arms, and two adjacent mechanical arms are rotatably connected; the laser radar rotating mechanism comprises a driving mechanism and a rotating platform; the laser radar lifting mechanism is arranged, and the laser radar and the driving mechanism are arranged on the rotating table and can rotate along a vertical axis under the driving of the driving mechanism; the driving mechanism drives the laser radar to rotate, so that data acquired by laser point cloud data of the laser radar is more complete.
Description
Technical Field
The utility model relates to a radar measures technical field, especially relates to a vehicle-mounted measurement system and vehicle.
Background
The vehicle-mounted measuring system is usually installed on the roof of a vehicle and is used for collecting road surface and surrounding environment data and then making a high-precision map. In an urban road environment, surrounding shielding objects such as dense greening vegetation and the like may shield laser point cloud data acquisition of a vehicle-mounted measuring system, so that the acquired data is incomplete.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the present disclosure provides an on-vehicle measurement system and a vehicle.
In a first aspect, the present disclosure provides a vehicle-mounted measurement system, including a laser radar lifting mechanism, a laser radar rotating mechanism, and a laser radar;
the laser radar lifting mechanism comprises at least two mechanical arms which are connected in sequence, and two adjacent mechanical arms are rotatably connected; one of the at least two mechanical arms close to the roof of the vehicle is rotatably connected to the vehicle, and one of the at least two mechanical arms far away from the roof of the vehicle is connected with the laser radar rotating mechanism;
the laser radar rotating mechanism comprises a driving mechanism and a rotating table; the revolving stage sets up on the arm, laser radar with actuating mechanism sets up on the revolving stage, just laser radar can it is rotatory along vertical axis under actuating mechanism's the drive.
Optionally, the laser radar lifting mechanism comprises a hydraulic oil cylinder, and one hydraulic oil cylinder is arranged between two adjacent mechanical arms;
one end of the hydraulic oil cylinder is connected with one of the two adjacent mechanical arms, and the other end of the hydraulic oil cylinder is connected with the other of the two adjacent mechanical arms.
Optionally, two ends of the hydraulic oil cylinder are respectively provided with a connecting rod, and the mechanical arm is provided with a connecting lug part matched with the connecting rod, wherein the connecting rod corresponds to the connecting rod.
Optionally, the orientation of connecting the ear have on one side of connecting rod with connecting rod joint complex joint hole.
Optionally, a rotating portion is arranged on the mechanical arm connected with the vehicle, a rotating seat is arranged on the vehicle, and the rotating seat is rotatably connected with the rotating portion.
Optionally, a first rotating hole is formed in the rotating portion, a second rotating hole is formed in the rotating seat, and a rotating shaft penetrates through the first rotating hole and the second rotating hole.
Optionally, the laser radar rotating mechanism is connected with a leveling and stabilizing platform is arranged on the mechanical arm, and the rotating table is arranged on the top surface of the leveling and stabilizing platform.
Optionally, the system further comprises an obstacle avoidance alarm radar and a camera monitoring device which are in communication connection with each other, the obstacle avoidance alarm radar and the camera monitoring device are arranged on the mechanical arm, the camera monitoring device is used for detecting surrounding obstacle information of the laser radar, and the obstacle avoidance alarm radar is used for selecting whether to send out an alarm according to the surrounding obstacle information.
Optionally, the camera monitoring device is arranged on the mechanical arm connected with the laser radar rotating mechanism.
In a second aspect, the present disclosure also provides a vehicle including a vehicle body and an onboard measurement system disposed on the vehicle body.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the utility model provides a vehicle-mounted measurement system and vehicle, this vehicle-mounted measurement system include laser radar elevating system, laser radar rotary mechanism and laser radar. The laser radar lifting mechanism comprises at least two mechanical arms which are connected in sequence, and two adjacent mechanical arms are rotatably connected; one of the at least two mechanical arms close to the roof of the vehicle is rotatably connected to the vehicle, and one of the at least two mechanical arms far away from the roof of the vehicle is connected with the laser radar rotating mechanism; the laser radar rotating mechanism comprises a driving mechanism and a rotating platform; the revolving stage sets up on the arm, and laser radar and actuating mechanism set up on the revolving stage, and laser radar can be rotatory along vertical axis under actuating mechanism's drive. That is to say, according to the vehicle-mounted measuring system disclosed by the disclosure, by arranging the laser radar lifting mechanism, the laser radar lifting mechanism comprises at least two mechanical arms which are rotatably connected, so that the laser radar can be driven to rise by a certain height when the surrounding shielding object shields or interferes with the laser point cloud data acquisition of the laser radar, the shielding or interference of the surrounding shielding object on the laser radar is solved, and the integrity of the laser point cloud data acquisition is improved; and the driving mechanism drives the laser radar to rotate, so that the data acquired by the laser point cloud data can be more complete.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1-4 are schematic diagrams of a lidar lifting mechanism of a vehicle-mounted measurement system according to an embodiment of the disclosure at different viewing angles in a stowed state;
5-7 are schematic diagrams of a lidar lifting mechanism of a vehicle-mounted measurement system according to an embodiment of the disclosure at different viewing angles when in a lifted state;
fig. 8 is a schematic diagram of a laser radar and a laser radar lifting mechanism of the vehicle-mounted measuring system according to the embodiment of the disclosure;
fig. 9 is a schematic view illustrating a laser radar upgrading mechanism of the vehicle-mounted measuring system rotating relative to the rotating base according to the embodiment of the disclosure.
Reference numerals:
1. a laser radar lifting mechanism; 11. a mechanical arm; 111. a first robot arm; 112. a second mechanical arm; 113. a third mechanical arm; 114. connecting the ear parts; 115. a rotating part; 12. a hydraulic cylinder; 2. a laser radar rotating mechanism; 21. a rotating table; 3. a laser radar; 4. a vehicle; 41. a rotating base; 42. a rotating shaft; 5. and leveling the stable platform.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Example one
Referring to fig. 1 to 9, the present embodiment provides a vehicle-mounted measurement system, which includes a laser radar lifting mechanism 1, a laser radar rotating mechanism 2, and a laser radar 3.
The laser radar lifting mechanism 1 comprises at least two mechanical arms 11 which are connected in sequence, and the two adjacent mechanical arms 11 are rotatably connected; one of the at least two robot arms 11 close to the roof of the vehicle 4 is rotatably connected to the vehicle 4, and one of the at least two robot arms 11 far from the roof of the vehicle 4 is connected to the lidar rotating mechanism 2.
That is, the lidar lifting mechanism 1 is provided with a plurality of mechanical arms 11, and two adjacent mechanical arms 11 are rotatably connected, so that when any one or any plurality of mechanical arms 11 are rotated, the overall height of the lidar lifting mechanism 1 relative to the roof of the vehicle 4 can be changed to realize lifting.
Illustratively, referring to fig. 1 to 7, in this embodiment, the robot 11 may include three robots, that is, a first robot arm 111, a second robot arm 112, and a third robot arm 113, one end of the first robot arm 111 is rotatably connected to the vehicle 4, one end of the second robot arm 112 is rotatably connected to the other end of the first robot arm 111, the other end of the second robot arm 112 is rotatably connected to one end of the third robot arm 113, the other end of the third robot arm 113 is used for connecting the lidar rotating mechanism 2, and the lidar 3 is mounted on the lidar rotating mechanism 2.
For example, referring to fig. 5 to 7, when the laser radar 3 needs to be raised to avoid shielding or interference of surrounding shielding objects on the laser radar 3, the first mechanical arm 111 may be controlled to rotate towards a direction away from the roof of the vehicle 4, so that a vertical distance between one end of the first mechanical arm 111 away from the roof of the vehicle 4 and the roof of the vehicle 4 is increased; alternatively, the second mechanical arm 112 may be controlled to rotate in a direction away from the roof of the vehicle 4, so that the vertical distance between the end of the second mechanical arm 112 away from the roof of the vehicle 4 and the roof of the vehicle 4 is increased; alternatively, the third mechanical arm 113 may be controlled to rotate in a direction away from the roof of the vehicle 4, so that the vertical distance between the end of the third mechanical arm 113 away from the roof of the vehicle 4 and the roof of the vehicle 4 increases.
In a specific operation, referring to fig. 5 to 7, when the laser radar 3 is required to ascend to the highest position, the first mechanical arm 111, the second mechanical arm 112, and the third mechanical arm 113 may be controlled to rotate in a direction away from the roof of the vehicle 4, so as to maximize the total vertical height of the three mechanical arms 11 relative to the roof of the vehicle 4.
Of course, referring to fig. 1 to 4, when the laser radar 3 needs to be stowed, the first mechanical arm 111, the second mechanical arm 112, and the third mechanical arm 113 may be rotated simultaneously in a direction approaching the roof of the vehicle 4, and a direction approaching the roof of the vehicle 4, so that the total vertical height of the three mechanical arms 11 with respect to the roof of the vehicle 4 is minimized.
Specifically, the rotation of the first arm 111, the second arm 112, and the third arm 113 may be independently controlled to flexibly adjust the height of the laser radar 3.
As shown in fig. 8, the laser radar rotation mechanism 2 includes a driving mechanism and a rotation table 21; revolving stage 21 sets up on mechanical arm 11, and laser radar 3 and actuating mechanism set up on revolving stage 21, and laser radar 3 can be rotatory along vertical axis under actuating mechanism's drive to make laser radar 3 can rotate and carry out laser point cloud data acquisition, in order to acquire complete data collection.
That is to say, by arranging the laser radar lifting mechanism 1, the laser radar 3 can be driven to rise by a certain height when the surrounding shielding object shields or interferes with the laser point cloud data acquisition of the laser radar 3 through the rotation of at least two mechanical arms 11, so as to solve the shielding or interference of the surrounding shielding object on the laser radar 3, and further improve the integrity of the laser point cloud data acquisition; and the laser radar 3 is driven to rotate by the driving mechanism, so that the data acquired by the laser point cloud data can be more complete.
In some embodiments, the lidar lifting mechanism 1 comprises hydraulic cylinders 12, and one hydraulic cylinder 12 is arranged between two adjacent mechanical arms 11; one end of the hydraulic cylinder 12 is connected to one of the adjacent two robot arms 11, and the other end of the hydraulic cylinder 12 is connected to the other of the adjacent two robot arms 11. Illustratively, the hydraulic cylinder 12 may be a telescopic cylinder, so that the mechanical arm 11 connected with the hydraulic cylinder can be driven to rotate to realize the height adjustment of the laser radar 3.
In a specific implementation, a hydraulic oil cylinder 12 is arranged between two adjacent mechanical arms 11. Illustratively, the robot arm 11 of the present embodiment includes a first robot arm 111, a second robot arm 112, and a third robot arm 113. Therefore, a hydraulic cylinder 12 is disposed between the first mechanical arm 111 and the second mechanical arm 112, one end of the first mechanical arm 111 close to the second mechanical arm 112 is connected to one end of the hydraulic cylinder 12, and one end of the second mechanical arm 112 close to the first mechanical arm 111 is connected to the other end of the hydraulic cylinder 12. Meanwhile, a hydraulic oil cylinder 12 is also arranged between the second mechanical arm 112 and the third mechanical arm 113, one end, close to the third mechanical arm 113, of the second mechanical arm 112 is connected with one end of the hydraulic oil cylinder 12, one end, close to the second mechanical arm 112, of the third mechanical arm 113 is connected with the other end of the hydraulic oil cylinder 12, and therefore rotation of different mechanical arms 11 can be achieved by controlling starting and stopping of different hydraulic oil cylinders 12, and flexible lifting of the laser radar 3 is achieved.
In some embodiments, referring to fig. 1 to 7, two ends of the hydraulic cylinder 12 are respectively provided with a connecting rod, and the mechanical arm 11 is provided with a connecting lug 114 corresponding to the connecting rod. Specifically, the connecting lug 114 may include two oppositely disposed sub-connecting lugs, so that the two opposite ends of the connecting rod may be respectively matched with the two sub-connecting lugs, thereby improving the connection stability between the hydraulic oil cylinder 12 and the mechanical arm 11.
During the concrete realization, connect ear 114 towards one side of connecting rod on have with connecting rod joint complex joint hole, the concrete shape and the aperture in joint hole can be decided according to the external diameter and the shape of connecting rod to ensure that the connecting rod can be reliably connected on connecting ear 114 can, this embodiment does not specifically prescribe a limit to the shape and the aperture that the joint connects the hole.
In some embodiments, referring to fig. 1 to 7, a rotation portion 115 is disposed on the robot arm 11 connected to the roof of the vehicle 4, a rotation seat 41 is disposed on the roof of the vehicle 4, and the rotation seat 41 is rotatably connected to the rotation portion 115, so that the entire lidar lifting mechanism 1 can rotate horizontally relative to the rotation seat 41, and when the rotation is 90 °, the lidar 3 can move 2-5 meters in the lateral direction (left side or right side) of the vehicle 4, and the height and position of the lidar 3 can be better adjusted, so as to avoid road vehicle shielding during parking scanning, and avoid shielding interference of overhead greening trees and the like on GNSS signals.
In specific implementation, the roof of the vehicle 4 is provided with a rotating seat 41, and the rotating seat 41 is used for rotating relative to the roof of the vehicle 4, so that the position of the laser radar lifting mechanism 1 can be changed to adapt to different laser point cloud data acquisition views of the laser radar 3.
Specifically, according to the foregoing, the robot 11 of the present embodiment includes three, i.e., the first robot arm 111, the second robot arm 112, and the third robot arm 113, and the first robot arm 111 is configured to be rotatably connected to the roof of the vehicle 4. When the roof of the vehicle 4 is provided with the swivel base 41, the first robot arm 111 is rotatably connected to the swivel base 41 through the rotating portion 115, so that the first robot arm 111 can rotate toward the roof or rotate away from the roof.
Specifically, the rotating portion 115 is provided with a first rotating hole, the rotating base 41 is provided with a second rotating hole, the rotating shaft 42 penetrates through the first rotating hole and the second rotating hole, and the rotating shaft 42 is matched with the first rotating hole and the second rotating hole to realize the rotatable connection between the first mechanical arm 111 and the rotating base 41. Of course, in other implementations, the rotating part and the rotating base 41 may be provided as a rotating hinge or a rotating ball joint.
In some embodiments, referring to fig. 1 to 7, a leveling and stabilizing platform 5 is disposed on a robotic arm 11 connected to the lidar rotating mechanism 2, and a rotating table 21 is disposed on a top surface of the leveling and stabilizing platform 5. Specifically, a leveling and stabilizing platform 5 may be disposed at an end of the third mechanical arm 113 away from the second mechanical arm 112, and the leveling and stabilizing platform 5 may be welded to the third mechanical arm 113 or connected thereto by a fastener. The leveling and stabilizing platform 5 is a device which uses a level gauge to sense inside and automatically corrects an inner support arm so that the whole leveling and stabilizing platform 5 can be in a horizontal state, and the acquisition accuracy of the laser radar 3 is ensured. The specific structure and principle of the leveling and stabilizing platform 5 can be referred to the description in the related art, and this embodiment will not be explained in detail.
During the concrete realization, still including each other communication connection's obstacle avoidance warning radar and monitoring device that makes a video recording, obstacle avoidance warning radar and monitoring device that makes a video recording set up on arm 11, and monitoring device that makes a video recording is used for detecting laser radar 3's obstacle information on every side, and obstacle avoidance warning radar is used for selecting whether to send the police dispatch newspaper according to obstacle information on every side to avoid obstacle on every side to cause laser radar 3 to shelter from. Optionally, the camera monitoring device is arranged on the mechanical arm 11 connected with the laser radar rotating mechanism 2.
The laser radar 3 and the driving mechanism are provided on the rotating table 21 and the laser radar 3 can be rotated by the driving mechanism. The drive mechanism may be specifically a drive motor.
In addition, the lidar integrated GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit) of the present embodiment includes a gyroscope and an accelerometer. The GNSS/IMU provides position and attitude data for the laser radar in time synchronization and equipment scanning processes, performs data fusion with the laser radar to obtain three-dimensional laser radar point cloud data under surrounding geodetic coordinates, and obtains surrounding image information at the scanning moment to assist in ground object identification.
Example two
Referring to fig. 1 to 9, the present embodiment also provides a vehicle including a vehicle body and an on-vehicle measurement system provided on a roof of the vehicle body.
The specific structure and implementation principle of the vehicle-mounted measurement system in this embodiment are the same as those of the vehicle-mounted measurement system provided in the first embodiment, and the same or similar technical effects can be brought.
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. Also, 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle-mounted measuring system is characterized by comprising a laser radar lifting mechanism, a laser radar rotating mechanism and a laser radar;
the laser radar lifting mechanism comprises at least two mechanical arms which are connected in sequence, and two adjacent mechanical arms are rotatably connected; one of the at least two mechanical arms close to the roof of the vehicle is rotatably connected to the vehicle, and one of the at least two mechanical arms far away from the roof of the vehicle is connected with the laser radar rotating mechanism;
the laser radar rotating mechanism comprises a driving mechanism and a rotating platform; the revolving stage sets up on the arm, laser radar with actuating mechanism sets up on the revolving stage, just laser radar can it is rotatory along vertical axis under actuating mechanism's the drive.
2. The vehicle-mounted measuring system of claim 1, wherein the lidar lifting mechanism comprises a hydraulic cylinder, and one hydraulic cylinder is arranged between two adjacent mechanical arms;
one end of the hydraulic oil cylinder is connected with one of the two adjacent mechanical arms, and the other end of the hydraulic oil cylinder is connected with the other of the two adjacent mechanical arms.
3. The vehicle-mounted measuring system according to claim 2, wherein two ends of the hydraulic oil cylinder are respectively provided with a connecting rod, and the mechanical arm is provided with a connecting lug part matched with the connecting rod correspondingly to the connecting rod.
4. The vehicle-mounted measuring system according to claim 3, wherein a side face of the connecting lug portion facing the connecting rod is provided with a clamping hole in clamping fit with the connecting rod.
5. The vehicle-mounted measuring system of any one of claims 1 to 4, wherein a rotating part is arranged on the mechanical arm connected with the vehicle, and a rotating seat is arranged on the vehicle and rotatably connected with the rotating part.
6. The vehicle-mounted measuring system according to claim 5, wherein the rotating portion is provided with a first rotating hole, the rotating base is provided with a second rotating hole, and a rotating shaft penetrates through the first rotating hole and the second rotating hole.
7. The vehicle-mounted measuring system according to any one of claims 1 to 4, wherein a leveling and stabilizing platform is arranged on the mechanical arm connected with the laser radar rotating mechanism, and the rotating platform is arranged on the top surface of the leveling and stabilizing platform.
8. The vehicle-mounted measurement system according to any one of claims 1 to 4, further comprising an obstacle avoidance alarm radar and a camera monitoring device which are in communication connection with each other, wherein the obstacle avoidance alarm radar and the camera monitoring device are arranged on the mechanical arm, the camera monitoring device is used for detecting surrounding obstacle information of the laser radar, and the obstacle avoidance alarm radar is used for selecting whether to send out an alarm according to the surrounding obstacle information.
9. The vehicle-mounted measuring system according to claim 8, wherein the camera monitoring device is provided on the robot arm connected to the laser radar rotating mechanism.
10. A vehicle, characterized by comprising a vehicle body and an on-board measurement system according to any one of claims 1 to 9 provided on the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221885203.XU CN218512638U (en) | 2022-07-20 | 2022-07-20 | Vehicle-mounted measuring system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221885203.XU CN218512638U (en) | 2022-07-20 | 2022-07-20 | Vehicle-mounted measuring system and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218512638U true CN218512638U (en) | 2023-02-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221885203.XU Active CN218512638U (en) | 2022-07-20 | 2022-07-20 | Vehicle-mounted measuring system and vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN218512638U (en) |
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2022
- 2022-07-20 CN CN202221885203.XU patent/CN218512638U/en active Active
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