WO2022213786A1 - 一种车载雷达调节装置以及车载雷达装置 - Google Patents

一种车载雷达调节装置以及车载雷达装置 Download PDF

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Publication number
WO2022213786A1
WO2022213786A1 PCT/CN2022/081405 CN2022081405W WO2022213786A1 WO 2022213786 A1 WO2022213786 A1 WO 2022213786A1 CN 2022081405 W CN2022081405 W CN 2022081405W WO 2022213786 A1 WO2022213786 A1 WO 2022213786A1
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WO
WIPO (PCT)
Prior art keywords
mounting plate
vehicle
radar
adjustment
mounted radar
Prior art date
Application number
PCT/CN2022/081405
Other languages
English (en)
French (fr)
Inventor
鲁艺
林中山
Original Assignee
深圳市道通科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通科技股份有限公司 filed Critical 深圳市道通科技股份有限公司
Priority to EP22783855.4A priority Critical patent/EP4299382A1/en
Priority to US18/552,672 priority patent/US20240157889A1/en
Publication of WO2022213786A1 publication Critical patent/WO2022213786A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0092—Adjustable or movable supports with motorization
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details

Definitions

  • the present invention relates to the technical field of vehicle-mounted radar, in particular to a vehicle-mounted radar adjustment device and a vehicle-mounted radar device.
  • the mechanical angle of the vehicle-mounted radar is fixed after the vehicle is installed, and the software can compensate the angle range to be smaller, so that the radar cannot adaptively adjust and compensate the corresponding horizontal angle when the vehicle body is fully loaded and other states that can change the tilt angle of the vehicle body. Therefore, it is necessary to Adjust the device to adjust the angle of the radar, so as to ensure the accuracy of the radar installation.
  • embodiments of the present invention provide a vehicle-mounted radar adjusting device and a vehicle-mounted radar device, which can automatically adjust the angle of the radar.
  • a vehicle-mounted radar adjustment device including:
  • a first mounting plate configured to be mounted on the vehicle body
  • a second mounting plate, the second mounting plate and the first mounting plate are arranged at intervals in the vertical direction, the second mounting plate is used to mount the vehicle-mounted radar, and the vertical direction refers to the distance between the first mounting plate and the first mounting plate. the vertical direction of the board;
  • At least one adjustment assembly the adjustment assembly is respectively connected to the first installation plate and the second installation plate, the adjustment assembly is movably connected to the second installation plate, and the adjustment assembly can drive the first installation plate.
  • the two mounting plates are rotated around the axis of the horizontal direction to adjust the pitch angle of the second mounting plate relative to the first mounting plate; wherein, the horizontal direction refers to the direction parallel to the plane where the first mounting plate is located ;as well as
  • controller is mounted on the first mounting plate, the controller is electrically connected with the adjusting assembly, and the controller is used for controlling the adjusting assembly to drive the second mounting plate to go around the horizontal direction axis of rotation.
  • the number of the adjustment components is determined by the shape of the second mounting plate.
  • the number of the adjusting components is the same as the number of corners included in the shape of the second mounting plate, and the adjusting components are respectively disposed on the corners of one side of the second mounting plate.
  • At least one side of the second mounting plate is provided with the adjustment assembly.
  • At least two adjustment assemblies are disposed on one side of the second mounting plate, and a connecting line between the at least two adjustment assemblies forms the axis in the horizontal direction.
  • the adjustment assembly includes a driving part and a moving part, the driving part is connected to the first mounting plate, the moving part is connected to the second mounting plate, and the driving part is used for driving the moving part Move relative to the second mounting plate to drive the second mounting plate to rotate around the axis in the horizontal direction.
  • the movable part includes a rotating mechanism and a moving mechanism, and the moving mechanism is connected with the rotating mechanism;
  • the rotating mechanism is also rotatably connected with the second mounting plate, and the moving mechanism is also connected with the driving part;
  • the driving part drives the moving mechanism to move in the vertical direction, and drives the second mounting plate to rotate through the rotating mechanism.
  • the rotating mechanism includes a universal ball bearing, and the universal ball bearing is mounted on the second mounting plate.
  • the universal ball bearing includes an outer ring and a roller, and the roller is rotatably arranged on the outer ring;
  • the outer ring is connected with the second mounting plate, and the roller is connected with the moving structure.
  • the moving mechanism includes a lead screw nut and a lead screw, and the lead screw nut is sleeved on the lead screw;
  • the lead screw nut is connected with the rotating mechanism, and the lead screw is connected with the driving part;
  • the driving part can drive the lead screw to rotate and drive the lead screw nut to move in the vertical direction.
  • the driving part is a motor power assembly.
  • the vehicle-mounted radar adjustment device further includes an angle sensor, and the angle sensor is electrically connected to the controller;
  • the angle sensor is used to detect radar angle change information and transmit it to the controller.
  • the angle sensor is arranged in the vehicle-mounted radar or on a certain surface of the vehicle-mounted radar.
  • the controller is configured to determine whether the angle of the vehicle-mounted radar needs to be adjusted after processing the radar angle change information detected by the angle sensor.
  • the controller is further configured to determine the adjustment value of the angle of the vehicle radar that needs to be adjusted when it is determined that the angle of the vehicle radar needs to be adjusted, and control the adjustment component to drive the second mounting plate to rotate to the desired position. the adjustment value;
  • the adjustment value is the rotation angle of the second mounting plate about the axis in the horizontal direction.
  • a vehicle-mounted radar device including:
  • the vehicle-mounted radar is mounted on the side of the second mounting plate facing away from the first mounting plate.
  • the radar is locked to the second mounting plate by a fastener.
  • the first mounting plate in this embodiment can be mounted on the vehicle body, the second mounting plate is used for mounting the radar, and the two ends of the movable portion are respectively connected to the second mounting plate and the driving portion.
  • the controller is electrically connected to the driving part, and the controller can control the driving part to drive the movable part to drive the second mounting plate to rotate in the horizontal direction relative to the first mounting plate, so as to adjust the The horizontal angle of the radar.
  • FIG. 1 is a schematic structural diagram of a vehicle-mounted radar device according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an on-board radar adjustment device of the on-board radar device shown in FIG. 1;
  • FIG. 3 is a schematic cross-sectional view of the vehicle-mounted radar adjustment device shown in FIG. 2;
  • FIG. 4 is an exploded schematic view of the movable part of the vehicle-mounted radar adjusting device shown in FIG. 2;
  • FIG. 5 is a schematic structural diagram of another state of the vehicle-mounted radar adjusting device shown in FIG. 2 .
  • One embodiment of the present invention provides a vehicle-mounted radar adjustment device 100 for installing the vehicle-mounted radar 200 .
  • the vehicle radar adjustment device 100 includes a mounting plate assembly 10, at least one adjustment assembly 20 and a controller 30.
  • the adjustment assembly 20 and the controller 30 are respectively mounted on the mounting plate assembly 10.
  • the adjustment assembly 20 and The controller 30 is electrically connected.
  • the mounting plate assembly 10 includes a first mounting plate 11 and a second mounting plate 12, and the first mounting plate 11 and the second mounting plate 12 are spaced apart along the vertical direction Z.
  • the side of the first mounting plate 11 facing away from the second mounting plate 12 is mounted on a predetermined mounting position of the vehicle body, and the adjusting assembly 20 and the controller 30 are respectively mounted on the first mounting plate 11 .
  • the vehicle radar 200 is disposed on the side of the second mounting plate 12 away from the first mounting plate 11 , and the vehicle radar 200 is locked to the second mounting plate 12 by fasteners.
  • the second mounting plate 12 is connected to the adjusting assembly 20, and the adjusting assembly 20 can drive the second mounting plate 12 to rotate relative to the first mounting plate 11 around the axis in the horizontal direction, thereby adjusting the vehicle-mounted The angle of the radar 200 relative to the horizontal.
  • the vertical direction Z and the horizontal direction are perpendicular to each other, the vertical direction Z is a direction perpendicular to the first installation board 11 , and the horizontal direction is parallel to the first installation board 11 direction.
  • the first mounting plate 11 may also be a plane where the preset installation position of the vehicle body is located, and the driving part 22 and the controller 30 are directly mounted on the vehicle body. Set the installation position on the plane.
  • the second mounting plate 12 can also be a casing of the vehicle-mounted radar 200, the vehicle-mounted radar 200 is directly connected to the movable part 21, and the movable part 21 drives the vehicle-mounted radar 200.
  • the radar 200 is rotated relative to the first mounting plate 11 to adjust the angle of the vehicle-mounted radar 200 .
  • the adjusting assembly 20 includes a movable part 21 and a driving part 22 , and the movable part 21 is connected with the driving part 22 .
  • the movable portion 21 is connected to the second mounting plate 12
  • the driving portion 22 is connected to the first mounting plate 11
  • the driving portion 22 is used to drive the movable portion 21 to mount relative to the second mounting plate 11 .
  • the plate 12 moves to drive the second mounting plate 12 to rotate around the axis in the horizontal direction.
  • the movable part 21 includes a rotating mechanism and a moving mechanism, the rotating mechanism is rotatably connected with the second mounting plate 12, one end of the moving mechanism is connected with the rotating mechanism, and the other end of the moving mechanism is connected with the rotating mechanism.
  • the drive unit 22 is connected.
  • the driving part 22 can drive the moving mechanism to move along the vertical direction Z, and the moving mechanism drives the second mounting plate 12 to rotate through the rotating mechanism.
  • the rotating mechanism includes a universal ball bearing 210
  • the moving mechanism includes a lead screw nut 212 and a lead screw 214
  • the lead screw nut 212 is respectively connected to the universal ball bearing 210 and the lead screw Bar 214.
  • the universal ball bearing 210 includes an outer ring 2100 and a roller 2102 , the roller 2102 is rotatably provided on the outer ring 2100 , and the roller 2102 can rotate relative to the outer ring 2100 in any direction.
  • the roller 2102 is provided with an inner hole 2104 , and the inner hole 2104 is used for mounting with the lead screw nut 212 .
  • the universal ball bearing 210 is mounted on the second mounting plate 12 , the second mounting plate 12 is provided with a mounting hole, and the outer ring 2100 is riveted in the mounting hole. It can be understood that the connection method between the universal ball bearing 210 and the second mounting plate 12 can be set according to actual needs, such as welding, bonding, etc.
  • the second mounting plate 120 can be fixed.
  • the lead screw nut 212 is a stepped nut, the lead screw nut 212 includes a large end and a small end, and a stepped surface 2120 is provided between the large end and the small end of the lead screw nut 212 .
  • the small end of the screw nut 212 is riveted into the inner hole 2104 of the roller 2102 , and the stepped surface 2120 abuts the end of the roller 2102 facing the first mounting plate 11 .
  • the lead screw nut 212 is further provided with a threaded hole 2122 , which penetrates the lead screw nut 212 in the vertical direction Z, and the screw hole 2122 is used for connecting with the lead screw 214 .
  • the lead screw 214 is disposed along the vertical direction X, one end of the lead screw 214 is connected to the driving part 22 , and the other end of the lead screw 214 passes through the threaded hole 2122 of the lead screw nut 212 .
  • the surface of the lead screw 214 is provided with an external thread adapted to the threaded hole 2122 , and the lead screw 214 and the lead screw nut 212 are screwed together.
  • the lead screw 214 can rotate relative to the lead screw nut 212 around the vertical direction X, thereby driving the lead screw nut 212 to move along the lead screw 214, and the lead screw nut 212 passes through the universal ball bearing 210 drives the second mounting plate 12 to move.
  • the rotating mechanism may also be a universal ball
  • the moving mechanism may also be a moving rod
  • the universal ball is connected to the moving rod
  • the universal ball may be It is rotatably mounted on the second mounting plate 12, the moving rod is connected with the driving part 22, the driving part 22 directly drives the moving rod to move, and the moving rod drives the moving rod through the universal ball.
  • the second mounting plate 12 rotates, or the rotating mechanism and the moving mechanism can also be implemented by other structures, which are not limited herein.
  • the driving part 22 is fixed on the first mounting plate 11 , the first mounting plate 11 is provided with a mounting groove 110 , the driving part 22 is arranged in the mounting groove 110 and is locked by a fastener on the first mounting plate 11 .
  • the drive part 22 is a motor power assembly, the drive part 22 includes a motor and a reducer (not shown), the motor is connected to the reducer, and the reducer is connected to the speed reducer of the movable part 21 .
  • the lead screw 214 is connected.
  • the motor can output torque, which is transmitted to the lead screw 214 by reducing the rotational speed and increasing the torque through the reducer, thereby driving the lead screw 214 to rotate.
  • the structure of the driving part can be set according to actual needs, for example, it is set as a rotary hydraulic cylinder, a rotary pneumatic cylinder, etc., and only needs to be able to drive the lead screw 214 to rotate.
  • the driving part 22 can also be a linear motor, a linear hydraulic cylinder, a linear pneumatic cylinder, etc., and the driving part 22 drives the moving mechanism of the movable part 21 to perform linear motion, thereby driving all the moving parts.
  • the second mounting plate 12 can be rotated.
  • the number of the adjustment components 20 is determined according to the shape of the second mounting plate 12 .
  • the number of the adjusting components 20 is the same as the number of the included corners of the shape of the second mounting plate 12 , and at least one of the adjusting components 20 is respectively disposed on each corner of one side of the second mounting plate 12 .
  • at least one side of the second mounting plate 12 is provided with the adjusting assembly 20 .
  • at least two adjustment assemblies 20 are disposed on one side of the second mounting plate 12 , and the horizontal axis is formed between the at least two adjustment assemblies 20 .
  • the horizontal direction is perpendicular to the vertical direction Z.
  • the number of the adjusting components 20 is three, and the three adjusting components 20 are respectively arranged on the second mounting plate on the three corners of the board 12.
  • the connecting lines between the three adjustment assemblies 20 form three horizontal axes, and the three horizontal axes include a first horizontal axis and a second horizontal axis that are perpendicular to each other.
  • the three adjustment assemblies 20 drive the The second mounting plate 12 is rotated around the first horizontal axis and the second horizontal axis, so as to adjust the angle of the vehicle radar 200 relative to the horizontal direction.
  • the three adjusting assemblies 20 are respectively connected between the first mounting plate 11 and the second mounting plate 12 , and the three adjusting assemblies 20 are respectively electrically connected to the controller 30 .
  • the three adjusting assemblies 20 respectively include a movable part 21 and a driving part 22, the three movable parts 21 are a first movable part 21a, a second movable part 21b and a third movable part 21c, respectively.
  • the driving parts 22 are respectively a first driving part 22a, a second driving part 22b and a third driving part 22c.
  • the first driving part 22a is connected to the first movable part 21a
  • the second driving part 22b is connected to the second movable part 21b
  • the third driving part 22c is connected to the third movable part 21c connection.
  • the first movable portion 21a, the second movable portion 21b and the third movable portion 21c all include the rotating mechanism and the moving mechanism.
  • the first movable portion 21a and the second movable portion 21b are disposed at both ends of the second mounting plate 12 along the first horizontal direction X, and the second movable portion 21b and the third movable portion 21c are arranged along the first horizontal direction X.
  • the second horizontal direction Y is disposed at both ends of the second mounting plate 12 .
  • the connecting line between the first movable portion 21a and the second movable portion 21b forms the first horizontal axis along the first horizontal direction X, and the first movable portion 21a and the second movable portion
  • the portion 21b can drive the second mounting plate 12 to rotate around the first horizontal axis to adjust a horizontal angle of the vehicle radar 200 .
  • the connecting line between the second movable portion 21b and the third movable portion 21c forms the second horizontal axis along the second horizontal direction Y, and the second movable portion 21b and the third movable portion 21b and the third movable portion 21b.
  • the portion 21c can drive the second mounting plate 12 to rotate around the second horizontal axis to adjust another horizontal angle of the vehicle radar 200 .
  • the first horizontal direction X and the second horizontal direction Y are perpendicular to each other, and the first horizontal direction X and the second horizontal direction Y are respectively perpendicular to the vertical direction Z.
  • the first driving part 22 a , the second driving part 22 b and the third driving part 22 c are respectively mounted on the first mounting plate 11 .
  • the first driving part 22a is used to drive the first movable part 21a
  • the second driving part 22b is used to drive the second movable part 21b
  • the third driving part 22c is used to drive the The third movable part 21c.
  • the first driving part 22a and the second driving part 22b are activated at the same time, and the lead screws 214 that drive the first movable part 21a and the second movable part 21b rotate forward or at the same time
  • the reverse direction drives the lead screw nut 212 of the first movable portion 21a and the lead screw nut 212 of the second movable portion 21b to ascend or descend simultaneously, and the roller 2102 of the first movable portion 21a and the The rollers 2102 of the two movable portions 21b drive the end of the second mounting plate 12 away from the third movable portion 21c to ascend or descend, and the outer ring 2100 of each movable portion 21 drives the second mounting plate 12 to face each other.
  • Each roller 2102 rotates, so that the second mounting plate 12 rotates around the first horizontal axis; or, the second driving part 22b and the third driving part 22c are activated at the same time to drive the second movable part
  • the lead screw 214 of 21b and the lead screw 214 of the third movable part 21c rotate forwardly or reversely at the same time, which can drive the lead screw nut 212 of the second movable part 21b and the lead screw of the third movable part 21c
  • the nut 212 rises or falls at the same time
  • the roller 2102 of the second movable portion 21b and the roller 2102 of the third movable portion 21c drive the end of the second mounting plate 12 away from the first movable portion 21a to rise Or descend
  • the outer ring 2100 of each movable portion 21 drives the second mounting plate 12 to rotate relative to each roller 2102 , so that the second mounting plate 12 rotates around the second horizontal axis.
  • the angle of the vehicle radar 200 relative to the horizontal direction is adjusted.
  • the forward rotation is a counterclockwise rotation or a clockwise rotation around the vertical direction X
  • the rotation direction of the reverse rotation is opposite to the rotation direction of the forward rotation.
  • the connecting lines between the three adjusting assemblies 20 form three axes in the horizontal direction, and further include a third connecting line formed by the connecting lines between the first movable portion 21a and the third movable portion 21c. horizontal axis.
  • the first driving part 22a and the third driving part 22c are activated at the same time, which can drive the first movable part 21a and the third movable part 21b to rotate forwardly or reversely at the same time, so as to drive the second mounting plate 12 Rotate around the third horizontal axis to further adjust the angle of the vehicle radar 200 relative to the horizontal direction.
  • the shape of the second mounting plate can be set according to actual requirements, and the number of the adjustment components can also be adjusted accordingly.
  • the second mounting plate is set to a rectangle, and the adjustment components The number is correspondingly set to four, the four adjustment assemblies are respectively arranged on the four corners of the second mounting plate, and the connecting lines between the four adjustment assemblies form at least four axes in the horizontal direction , so that the second mounting plate can rotate around at least four axes in the horizontal direction respectively, or, the second mounting plate is set to a pentagon, a hexagon, etc., and the number of the adjusting components is set accordingly There are five, six, etc., in order to adjust the angles of the second mounting plate in multiple horizontal directions.
  • the number of the adjustment components 20 may also be greater than the number of included corners in the shape of the second mounting plate 12 , so that at least two each of the adjustment components 20 .
  • the number of the adjusting components may be four, wherein three of the adjusting components are respectively disposed on three corners of the second mounting plate, and The connecting lines between the components respectively form three horizontal axes, and the other adjustment component is arranged between two adjustment components arranged along one of the horizontal axes, and the four adjustment components drive the second mounting plate respectively. Rotate around the three horizontal axes, so as to adjust the angle of the vehicle radar relative to the horizontal direction.
  • the number of the adjustment components 20 may not correspond to the shape of the second mounting plate 12.
  • the second mounting plate 12 may be set to be circular, oval, etc.
  • the number of adjustment assemblies 20 may be set to at least two, and the number of adjustment assemblies 20 is determined according to the number of rotation axes required by the second mounting plate 12 .
  • the number of the adjusting components may be at least two, and the at least two adjusting components are respectively disposed on the second mounting plate along the first horizontal direction.
  • a mounting plate, the connecting line between at least two of the adjusting assemblies forms a rotation axis along a first horizontal direction, and one end of the second mounting plate facing away from the at least two adjusting assemblies along the second horizontal direction can be
  • the first mounting plate or the vehicle body is rotatably connected, and at least two of the adjustment assemblies rise or fall simultaneously, thereby driving the second installation plate to rotate along the rotation axis of the first horizontal direction;
  • the number can be set according to other actual needs, as long as it can meet the angle adjustment needs of the vehicle radar, which is not limited here.
  • the controller 30 is mounted on the first mounting plate 11 , and the controller 30 is locked to the first mounting plate 11 by fasteners.
  • the controller 30 is electrically connected to the first driving part 22a, the second driving part 22b and the third driving part 22c respectively, and the controller 30 is used to control the first driving part 22a, the second driving part 22b,
  • the third driving part 22c is activated or deactivated.
  • the controller 30 can control the first driving part 22a and the second driving part 22b to start at the same time, so as to drive the first movable part 21a and the second movable part 21b to rotate at the same time; or, the control The controller 30 can control the second driving part 22b and the third driving part 22c to start at the same time, so as to drive the second movable part 21b and the third movable part 21c to rotate at the same time; or, the controller 30 can control The first driving part 22a and the third driving part 22c are activated at the same time, thereby driving the first movable part 21a and the third movable part 21c to rotate simultaneously.
  • the controller 30 can respectively control one of the first driving part 22a, the second driving part 22b, and the third driving part 22c to activate, so as to drive the first activity One of the part 21a, the second movable part 21b and the third movable part 21c rotates.
  • the vehicle-mounted radar adjustment device 100 further includes an angle sensor (not shown in the figure), the angle sensor is electrically connected to the controller, and the angle sensor is used to detect the radar angle change information and transmit it to the The controller 30 is described.
  • the angle sensor may be arranged in the vehicle radar 200, or the angle sensor may be arranged on a certain surface of the vehicle radar 200, or the angle sensor may also be arranged in the vehicle body superior. When the vehicle body is loaded, turning, going uphill, etc., the vehicle body will tilt, so that the vehicle radar 200 follows the vehicle body tilt, so that the angle of the vehicle radar 200 in the horizontal direction changes relative to its preset angle , wherein the radar angle change information is the angle change value of the vehicle radar 200 .
  • the controller 30 After the controller 30 receives the radar angle change information detected by the angle sensor and processes it, it determines whether the angle of the vehicle-mounted radar 200 needs to be adjusted; when the controller 30 determines that the angle of the vehicle-mounted radar 200 needs to be adjusted, it further determines The adjustment value of the angle of the vehicle radar 200 needs to be adjusted; the controller 30 adjusts the numerical value of the angle of the vehicle radar 200 according to the need to control the driving part 22 to start or close, so that the movable part 21 drives the second mounting plate to rotate to the adjustment value , so as to adjust the inclination angle of the vehicle radar 200 relative to the horizontal direction, so as to ensure the accuracy of the installation angle of the vehicle radar 200 .
  • the adjustment value is an angle value of the rotation of the second mounting plate around the axis in the horizontal direction.
  • the controller 30 can send to any of the at least two adjustment assemblies 20 .
  • the driving part sends a synchronous control command, so that the movable parts in at least two adjusting assemblies 20 rotate synchronously.
  • the controller 30 controls the first driving part 22a and the second driving part 22b to start synchronously according to the adjustment value to drive the The first movable portion 21a and the second movable portion 21b rotate synchronously, thereby driving the second mounting plate 12 to rotate around the first horizontal axis; and/or, the controller 30 controls the second driving portion according to the adjustment value 22b and the third driving part 22c are activated synchronously to drive the second movable part 21b and the third movable part 21c to rotate synchronously, thereby driving the second mounting plate 12 to rotate around the second horizontal axis.
  • the adjustment value includes the angular value of the rotation of the second mounting plate around the first horizontal axis and the angular value of the rotation around the second horizontal axis.
  • the controller 30 may also control the first driving part 22a and the third driving part 22c to start synchronously according to the adjustment value, so as to drive the first movable part 21a and the third movable part 21c to synchronize rotate, thereby driving the second mounting plate 12 to rotate around the third horizontal axis.
  • the adjustment value further includes the angle value of the rotation of the second mounting plate around the third horizontal axis.
  • the "electrical connection” described in this implementation means that the communication of electrical signals can be realized between the two structures, which may be a wired electrical connection realized by a cable, or a Bluetooth, WIFI module, etc. Implemented radio connection.
  • the adjusting device 100 is used for adjusting the inclination angle of the on-board radar 200 .
  • the vehicle-mounted radar 200 adopts a millimeter-wave radar, and the vehicle-mounted radar 200 is used to obtain physical environment information around the vehicle body after processing by transmitting and receiving millimeter waves (millimeter electromagnetic waves) reflected by obstacles. (such as the relative distance, relative speed, angle, movement direction, etc. between the vehicle body and other objects), provide information conditions for the vehicle body control system, and the vehicle body control system makes corresponding active safety measures according to the information fed back by the radar body 20 Or actively intervene to ensure the safety and comfort of the driving process and reduce the chance of accidents.
  • the vehicle-mounted radar 200 may also be an ultrasonic radar, a laser radar, or the like.

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Abstract

一种车载雷达调节装置以及车载雷达装置，车载雷达装置包括车载雷达调节装置（100）和雷达（200），车载雷达装置用于安装雷达（200），车载雷达调节装置（100）包括第一安装板（11）、第二安装板（12）、活动部（21）、驱动部（22）以及控制器（30），所述第二安装板（12）与所述第一安装板（11）沿竖直方向间隔设置，所述活动部（21）的一端与所述第二安装板（12）可活动地连接，所述活动部（21）的另一端与所述驱动部（22）连接，所述控制器（30）与所述驱动部（22）电连接，所述控制器（30）可控制所述驱动部（22），以驱动所述活动部（21）带动所述第二安装板（12）相对于第一安装板（11）绕水平方向转动，从而调节所述雷达（200）的水平角度。

Description

一种车载雷达调节装置以及车载雷达装置
本申请要求于2021年04月07日提交中国专利局、申请号为202110372134.6、申请名称为“一种车载雷达调节装置以及车载雷达装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本发明涉及车载雷达技术领域，特别涉及一种车载雷达调节装置以及车载雷达装置。
【背景技术】
目前车载雷达装车后机械角度固定同时软件可补偿角度范围调小，从而导致车体在满载以及其他能改变车体倾斜角度的状态下，雷达没法自适应调节补偿相应的水平角度，因此需要调节装置来调节雷达的角度，从而保证雷达安装的精确度。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种车载雷达调节装置以及车载雷达装置，可以自动调节所述雷达的角度。
本发明实施例解决其技术问题采用以下技术方案：
第一方面，提供一种车载雷达调节装置，包括：
第一安装板，所述第一安装板被配置为安装于车体；
第二安装板，所述第二安装板与所述第一安装板沿竖直方向间隔设置，所述第二安装板用于安装车载雷达，所述竖直方向是指与所述第一安装板垂直的方向；
至少一个调节组件，所述调节组件分别连接所述第一安装板和所述第二安装板，所述调节组件与所述第二安装板可活动地连接，所述调节组件可带动所述第二安装板绕水平方向的轴线转动，以调节所述第二安装板相对于所述第一安装板的俯仰角度；其中，所述水平方向是指与所述第一安装板所在平面平行的方向；以及
控制器，所述控制器安装于所述第一安装板，所述控制器与所述调节组件电连接，所述控制器用于控制所述调节组件带动所述第二安装板绕所述水平方向的轴线转动。
可选地，所述调节组件的数量是由所述第二安装板的形状确定的。
可选地，所述调节组件的数量与所述第二安装板的形状所包含的角的数量相同，且所述调节组件分别设置于所述第二安装板的一面的角落上。
可选地，所述第二安装板的至少一边设置有所述调节组件。
可选地，所述第二安装板的一边上设置有至少两个所述调节组件，所述至少两个调节组件之间的连线形成所述水平方向的轴线。
可选地，所述调节组件包括驱动部和活动部，所述驱动部连接于第一安装板，所述活动部连接于所述第二安装板，所述驱动部用于驱动所述活动部相对于所述第二安装板活动，以带动所述第二安装板绕所述水平方向的轴线转动。
可选地，所述活动部包括转动机构和移动机构，所述移动机构与所述转动机构连接；
所述转动机构还与所述第二安装板可转动地连接，所述移动机构的还与所述驱动部连接；
所述驱动部驱动所述移动机构沿竖直方向移动，并通过所述转动机构带动所述第二安装板转动。
可选地，所述转动机构包括万向球轴承，所述万向球轴承安装于所述第二安装板。
可选地，所述万向球轴承包括外圈和滚子，所述滚子可转动地设于所述外圈；
所述外圈与所述第二安装板连接，所述滚子与所述移动结构连接。
可选地，所述移动机构包括丝杠螺母以及丝杠，所述丝杠螺母套设于所述丝杠；
所述丝杠螺母与所述转动机构连接，所述丝杠与所述驱动部连接；
所述驱动部可驱动所述丝杆转动并带动所述丝杆螺母沿竖直方向移动。
可选地，所述驱动部为电机动力总成。
可选地，所述车载雷达调节装置还包括角度传感器，所述角度传感器与所述控制器电连接；
所述角度传感器用于检测雷达角度变化信息并传递给所述控制器。
可选地，所述角度传感器设于所述车载雷达内或者所述车载雷达的某个面上。
可选地，所述控制器用于接收角度传感器检测到的雷达角度变化信息进行处理后，确定是否需要调节车载雷达的角度。
可选地，所述控制器还用于确定需要调节所述车载雷达的角度时，进一步确定需要调节车载雷达的角度的调节值，并控制所述调节组件带动所述第二安装板转动至所述调节值；
其中，该调节值为所述第二安装板绕水平方向的轴线转动的角度。
第二方面，提供一种车载雷达装置，包括：
车载雷达；
上述任一项所述的车载雷达调节装置，所述车载雷达安装于所述第二安装板背离所述第一安装板的一面。
可选地，所述雷达通过紧固件锁紧于所述第二安装板。
相对于现有技术，本实施例中的第一安装板可安装于车体，所述第二安装板用于安装雷达，所述活动部的两端分别连接所述第二安装板和驱动部，所述控制器与所述驱动部电连接，所述控制器可控制所述驱动部，以驱动所述活动部带动所述第二安装板相对于第一安装板绕水平方向转动，从而调节所述雷达的水平角度。
【附图说明】
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明其中一实施例提供的一种车载雷达装置的结构示意图；
图2为图1所示的车载雷达装置的车载雷达调节装置的结构示意图；
图3为图2所示的车载雷达调节装置的剖面示意图；
图4为图2所示的车载雷达调节装置的活动部的分解示意图；
图5为图2所示的车载雷达调节装置的另一个状态的结构示意图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请一并参阅图1和图2，本发明其中一实施例提供一种车载雷达调节装置100，用于安装车载雷达200。所述车载雷达调节装置100包括安装板组件10、至少一个调节组件20以及控制器30，所述调节组件20和所述控制器30分别安装于所述安装板组件10，所述调节组件20和所述控制器30电连接。
所述安装板组件10包括第一安装板11和第二安装板12，所述第一安装板11和第二安装板12沿竖直方向Z间隔设置。所述第一安装板11背离所述第二安装板12的一面安装于车体的预设安装位置上，所述调节组件20和所述控制器30分别安装于所述第一安装板11上。所述车载雷达200设于所述第二安装板12背离所述第一安装板11的一面，所述车载雷达200通过紧固件锁紧于所述第二安装板12。所述第二安装板12与所述调节组件20连接，所述调节组件20可带动所述第二安装板12相对于所述第一安装板11绕水平方向的轴线转动，从而调节所述车载雷达200的相对于水平方向的角度。其中，所述竖直方向Z与所述水平方向相互垂直，所述竖直方向Z是与所述第一安装板11垂直的方向，所述水平方向是与所述第一安装板11平行的方向。
可以理解的是，在一些实施中，所述第一安装板11也可以为车体的预设安装位置所在的平面，所述驱动部22和所述控制器30直接安装于所述车体的设安装位置所在的平面上。
可以理解的是，在一些实施例中，所述第二安装板12也可以为车载雷达200的外壳，所述车载雷达200直接与所述活动部21连接，所述活动部21带动所述车载雷达200相对于所述第一安装板11转动，从而调节所述车载雷达200的角度。
请一并参阅图2至图4，所述调节组件20包括活动部21和驱动部22，所述活动部21与所述驱动部22连接。所述活动部21连接于所述第二安装板12，所述驱动部22连接于所述第一安装板11，所述驱动部22用于驱动所述活动部21相对于所述第二安装板12活动，以带动所述第二安装板12绕所述水平方向的轴线转动。
所述活动部21的一端与所述第二安装板12可活动地连接，所述活动部21的另一端与所述驱动部22连接。所述活动部21包括转动机构和移动机构，所述转动机构与所述第二安装板12可转动地连接，所述移动机构的一端与所述转动机构连接，所述移动机构的另一端与所述驱动部22连接。所述驱动部22可驱动所述移动机构沿竖直方向Z移动，所述移动机构通过所述转动机构带动所述第二安装板12转动。在本实施例中，所述转动机构包括万向球轴承210，所述移动机构包括丝杠螺母212以及丝杠214，所述丝杠螺母212分别连接所述万向球轴承210和所述丝杠214。
所述万向球轴承210包括外圈2100和滚子2102，所述滚子2102可转动地设于所述外圈2100，所述滚子2102可相对于所述外圈2100朝任意方向转动。所述滚子2102上设有内孔2104，所述内孔2104用于与所述丝杠螺母212安装。所述万向球轴承210安装于所述第二安装板12上，所述第二安装板12上开设有安装孔，所述外圈2100铆接于所述安装孔内。可以理解的是，所述万向球轴承210与所述第二安装板12之间的连接方式可以根据实际需求设置，比如焊接、粘接等，只需使得所述外圈2100与所述第二安装板120固定即可。
所述丝杠螺母212为台阶螺母，所述丝杠螺母212包括大端和小端，所述丝杠螺母212的大端和小端之间设有台阶面2120。所述丝杠螺母212的小端铆接于所述滚子2102的所述内孔2104内，所述台阶面2120抵接所述滚子2102朝向所述第一安装板11的一端。所述丝杠螺母212还设有螺纹孔2122，所述螺纹孔2122沿竖直方向Z贯通所述丝杠螺母212，所述螺纹孔2122用于与所述丝杠214连接。
所述丝杠214沿竖直方向X设置，所述丝杠214的一端与所述驱动部22连接，所述丝杠214的另一端穿过所述丝杠螺母212的所述螺纹孔2122。所述丝杠214的表面设有与所述螺纹孔2122适配的外螺纹，所述丝杠214与所述丝杠螺母212之间螺接配合。所述丝杠214可绕竖直方向X相对于所述丝杠螺母212转动，从而带动所述丝杠螺母212沿所述丝杠214移动，所述丝杠螺母212通过所述万向球轴承210带动所述第二安装板12移动。
可以理解的是，在一些实施例中，所述转动机构也可以为万向球，所述移动机构也可以为移动杆，所述万向球与所述移动杆连接，所述万向球可转动地安装于所述第二安装板12，所述移动杆与所述驱动部22连接，所述驱动部22直接驱动所述移动杆移动，所述移动杆通过所述万向球带动所述第二安装板12转动，或者，所述转动机构和所述移动机构也可以通过其他结构实现，在此不予限定。
所述驱动部22固定于所述第一安装板11，所述第一安装板11上设有安装槽110，所述驱动部22设于所述安装槽110内，且通过紧固件锁紧于所述第一安装板11上。所述驱动部22为电机动力总成，所述驱动部22包括电机和减速器(图未示)，所述电机与所述减速器连接，所述减速器与所述活动部21的所述丝杠214连接。所述电机可输出转矩，通过所述减速器降低转速、增加转矩后传递给所述丝杠214，从而带动所述丝杠214转动。可以理解的是，所述驱动部的结构可以根据实际需求设置，比如设置为回转液压缸、旋转气动缸等，只需能带动所述丝杠214转动即可。
可以理解的是，在一些实施例中，驱动部22也可以为直线电机、直线液压缸、直线气动缸等，驱动部22驱动所述活动部21的所述移动机构做直线运动，进而带动所述第二安装板12转动即可。
请一并参阅图5，需要说明的是，所述调节组件20的数量根据所述第二安装板12的形状确认。所述调节组件20的数量与所述第二安装板12的形状所述包含的角的数量相同，且至少一个所述调节组件20分别设置于所述第二安装板12的一面的各角落上。其中，所述第二安装板12的至少一边设置有所述调节组件20。进一步地，所述第二安装板12的一边设置有至少两个所述调节组件20，所述至少两个调节组件20之间形成所述水平方向的轴线。其中，所述水平方向与所述竖直方向Z垂直。
在本实施例中，以所述第二安装板12的形状为三角形为例，相应地，所述调节组件20的数量为三个，三个所述调节组件20分别设于所述第二安装板12的三个角上。三个所述调节组件20之间的连线形成三条所述水平方向的轴线，三条所述水平方向的轴线包括相互垂直的第一水平轴线和第二水平轴线，三个调节组件20分别带动所述第二安装板12绕所述第一水平轴线和第二水平轴线转动，从而调节车载雷达200相对于水平方向的角度。三个所述调节组件20分别连接于所述第一安装板11和第二安装板12之间，且三个所述调节组件20分别与所述控制器30电连接。
具体地，三个所述调节组件20分别包括活动部21和驱动部22，三个所述活动部21分别为第一活动部21a、第二活动部21b以及第三活动部21c，三个所述驱动部22分别为第一驱动部22a、第二驱动部22b以及第三驱动部22c。其中，所述第一驱动部22a与所述第一活动部21a连接，所述第二驱动部22b与所述第二活动部21b连接，所述第三驱动部22c与所述第三活动部21c连接。
所述第一活动部21a、所述第二活动部21b以及所述第三活动部21c均包括所述转动机构和所述移动机构。所述第一活动部21a和所述第二活动部21b沿第一水平方向X设置于所述第二安装板12的两端，所述第二活动部21b和所述第三活动部21c沿第二水平方向Y设置于所述第二安装板12的两端。所述第一活动部21a和所述第二活动部21b之间的连线形成沿所述第一水平方向X的所述第一水平轴线，所述第一活动部21a和所述第二活动部21b可带动所述第二安装板12绕该第一水平轴线转动，以调节所述车载雷达200的一水平角度。所述第二活动部21b和所述第三活动部21c之间的连线形成沿所述第二水平方向Y的所述第二水平轴线，所述第二活动部21b和所述第三活动部21c可带动所述第二安装板12绕该第二水平轴线转动，以调节所述车载雷达200的另一水平角度。其中，第一水平方向X和所述第二水平方向Y相互垂直，所述第一水平方向X和所述第二水平方向Y分别与所述竖直方向Z垂直。
所述第一驱动部22a、所述第二驱动部22b以及所述第三驱动部22c分别安装于所述第一安装板11。其中，所述第一驱动部22a用于驱动所述第一活动部21a，所述第二驱动部22b用于驱动所述第二活动部21b，所述第三驱动部22c用于驱动所述第三活动部21c。
当车载雷达200需要调节角度时，所述第一驱动部22a和第二驱动部22b 同时启动，驱动所述第一活动部21a和所述第二活动部21b的丝杠214同时正转或同时反转，带动所述第一活动部21a的丝杠螺母212和所述第二活动部21b的丝杠螺母212同时上升或同时下降，所述第一活动部21a的滚子2102和所述第二活动部21b的滚子2102带动所述第二安装板12背离所述第三活动部21c的一端上升或下降，且各所述活动部21的外圈2100带动所述第二安装板12相对于各滚子2102转动，从而使得所述第二安装板12绕所述第一水平轴线转动；或者，所述第二驱动部22b和第三驱动部22c同时启动，驱动所述第二活动部21b的丝杠214和所述第三活动部21c的丝杠214同时正转或同时反转，可带动所述第二活动部21b的丝杠螺母212和所述第三活动部21c的丝杠螺母212同时上升或同时下降，所述第二活动部21b的滚子2102和所述第三活动部21c的滚子2102带动所述第二安装板12背离所述第一活动部21a的一端上升或下降，且各所述活动部21的外圈2100带动所述第二安装板12相对于各滚子2102转动，从而使得所述第二安装板12绕所述第二水平轴线转动。通过调节所述第二安装板12分别相对于第一水平轴线和第二水平轴线转动，从而调节所述车载雷达200相对于水平方向的角度。其中，所述正转为绕竖直方向X逆时针转动或顺时针转动，所述反转的转动方向与所述正转的转动方向相反。
进一步地，三个所述调节组件20之间的连线形成三条所述水平方向的轴线，还包括所述第一活动部21a和所述第三活动部21c之间的连线形成的第三水平轴线。所述第一驱动部22a和第三驱动部22c同时启动，可驱动所述第一活动部21a和所述第三活动部21b同时正转或同时反转，以带动所述第二安装板12绕该第三水平轴线转动，从而进一步调节所述车载雷达200相对于水平方向的角度。
在一些其他实施例中，所述第二安装板的形状可以根据实际需求设置，所述调节组件的数量为也可以相应地调整，比如，所述第二安装板设置为矩形，所述调节组件的数量相应地设置为四个，四个所述调节组件分别设于所述第二安装板的四个角上，四个所述调节组件之间的连线形成至少四条所述水平方向的轴线，以使得所述第二安装板可以分别绕至少四条所述水平方向的轴线转动，或者，所述第二安装板设置为五边形、六边形等，所述调节组件的数量相应地设置为五个、六个等，以调节所述第二安装板多个水平方向的角度。
在一些其他实施例中，所述调节组件20的数量也可以大于所述第二安装板12的形状所述包含的角的数量，以使得所述第二安装板12的一边上设有至少两个所述调节组件20。比如，所述第二安装板为三角形时，所述调节组件的数量可以为四个，其中三个所述调节组件分别设于所述第二安装板的三个角上，三个所述调节组件之间的连线分别形成三条水平方向的轴线，另外一个所述调节组件设于沿其中一条水平方向的轴线设置的两个调节组件之间，四个调节组件分别带动所述第二安装板绕所述三条水平方向的轴线转动，从而调节车载雷达相对于水平方向的角度。
在一些其他实施例中，所述调节组件20的数量与所述第二安装板12的形状也可以不相对应，比如所述第二安装板12可以设置为圆形、椭圆形等，所述调节组件20的数量可以设置为至少两个，所述调节组件20的数量根据所述第二安装板12所需的转动轴线的数量确定。比如，所述第二安装板仅需要绕一条所述水平方向的轴线转动时，所述调节组件的数量可以为至少两个，至少两个调节组件分别沿第一水平方向设置于所述第二安装板，至少两个所述调节组件之间的连线形成一条沿第一水平方向的转动轴线，所述第二安装板沿所述第二水平方向背离至少两个所述调节组件的一端可转动地连接所述第一安装板或车体，至少两个所述调节组件同时上升或下降，从而带动所述第二安装板沿第一水平方向的转动轴线转动；或者，所述调节组件的数量可以根据其他实际需求设置，只需能满足车载雷达的角度调节需求即可，在此不予限定。
所述控制器30安装于所述第一安装板11上，且所述控制器30通过紧固件锁紧于所述第一安装板11。所述控制器30分别与所述第一驱动部22a、第二驱动部22b、第三驱动部22c电连接，所述控制器30用于分别控制第一驱动部22a、第二驱动部22b、第三驱动部22c启动或关闭。比如，所述控制器30可以控制所述第一驱动部22a和第二驱动部22b同时启动，从而驱动所述第一活动部21a和所述第二活动部21b同时转动；或者，所述控制器30可以控制所述第二驱动部22b和第三驱动部22c同时启动，从而驱动所述第二活动部21b和所述第三活动部21c同时转动；又或者，所述控制器30可以控制所述第一驱动部22a和第三驱动部22c同时启动，从而驱动所述第一活动部21a和所述第三活动部21c同时转动。可以理解的是，在一些实施例中，所述控制器30可以分别控制第一驱动部22a、第二驱动部22b、第三驱动部22c中的其 中一者启动，从而驱动所述第一活动部21a、所述第二活动部21b以及所述第三活动部21c中的其中一者转动。
在一些实施例中，所述车载雷达调节装置100还包括角度传感器(图未示)，所述角度传感器与所述控制器电连接，所述角度传感器用于检测雷达角度变化信息并传递给所述控制器30。其中，所述角度传感器可以设置于所述车载雷达200内，或者，所述角度传感器也可以设置于所述车载雷达200的某个面上，又或者，所述角度传感器也可以设置于车体上。当车体载重、转弯、上坡等情况下会产生车体倾斜，从而导致所述车载雷达200跟随车体倾斜，使得所述车载雷达200在水平方向内的角度相对于其预设角度发生变化，其中，所述雷达角度变化信息为所述车载雷达200的角度变化数值。
所述控制器30接收角度传感器检测到的雷达角度变化信息进行处理后，确定是否需要调节车载雷达200的角度；当所述控制器30确定需要调节所述车载雷达200的角度时，进一步地确定需要调节车载雷达200的角度的调节值；控制器30根据需要调节车载雷达200的角度的数值控制驱动部22启动或关闭，使得所述活动部21带动所述第二安装板转动至该调节值，从而调节车载雷达200相对于水平方向的倾斜角度，保证车载雷达200安装角度的精确度。其中，该调节值为所述第二安装板绕水平方向的轴线转动的角度数值。
在一些实施例中，所述第二安装板绕水平方向的轴线转动时，需要至少两个所述调节组件20的配合，所述控制器30可以向至少两个所述调节组件20中的所述驱动部发送同步控制指令，以使得至少两个所述调节组件20中的所述活动部同步转动。
具体地，当所述控制器30确定需要调节车载雷达200的角度的调节值后，所述控制器30根据该调节值控制所述第一驱动部22a和第二驱动部22b同步启动，以驱动所述第一活动部21a和第二活动部21b同步转动，从而带动所述第二安装板12绕第一水平轴线转动；和/或，所述控制器30根据该调节值控制第二驱动部22b和第三驱动部22c同步启动，以驱动所述第二活动部21b和第三活动部21c同步转动，从而带动所述第二安装板12绕第二水平轴线转动。其中，该调节值包括所述第二安装板绕第一水平轴线转动的角度数值和绕第二水平轴线转动的角度数值。
在一些实施例中，所述控制器30还可以根据该调节值控制所述第一驱动 部22a和第三驱动部22c同步启动，以驱动所述第一活动部21a和第三活动部21c同步转动，从而带动所述第二安装板12绕第三水平轴线转动。其中，该调节值还包括所述第二安装板绕第三水平轴线转动的角度数值。
需要说明的是，本实施中所述的“电连接”意为：两结构之间能够实现电信号的通信，其可以是通过缆线实现的有线电连接，亦可以是通过蓝牙、WIFI模块等实现的无线电连接。
请复参阅图1，本发明另一实施例提供一种车载雷达装置300，包括上述任一实施例所述的车载雷达调节装置100和车载雷达200，所述车载雷达200安装于所述车载雷达调节装置100，所述车载雷达调节装置100用于调节所述车载雷达200的倾斜角度。
在本实施例中，所述车载雷达200采用毫米波雷达，所述车载雷达200用于通过发射和接收经障碍物反射的毫米波(毫米电磁波)，经处理后获得车体周围的物理环境信息(如车体与其他物体之间的相对距离、相对速度、角度、运动方向等)，为车体控制系统提供信息条件，车体控制系统根据雷达本体20反馈的信息做出相应的主动安全措施或者主动干预，从而保证驾驶过程的安全性和舒适性，减少事故发生几率。可以理解的是，在一些其他实施例中，所述车载雷达200也可以为超声波雷达、激光雷达等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (17)

  1. 一种车载雷达调节装置，其特征在于，包括：
    第一安装板，所述第一安装板被配置为安装于车体；
    第二安装板，所述第二安装板与所述第一安装板沿竖直方向间隔设置，所述第二安装板用于安装车载雷达，所述竖直方向是指与所述第一安装板垂直的方向；
    至少一个调节组件，所述调节组件分别连接所述第一安装板和所述第二安装板，所述调节组件与所述第二安装板可活动地连接，所述调节组件可带动所述第二安装板绕水平方向的轴线转动，以调节所述第二安装板相对于所述第一安装板的俯仰角度；其中，所述水平方向是指与所述第一安装板所在平面平行的方向；以及
    控制器，所述控制器安装于所述第一安装板，所述控制器与所述调节组件电连接，所述控制器用于控制所述调节组件带动所述第二安装板绕所述水平方向的轴线转动。
  2. 根据权利要求1所述的车载雷达调节装置，其特征在于，所述调节组件的数量是由所述第二安装板的形状确定的。
  3. 根据权利要求2所述的车载雷达调节装置，其特征在于，所述调节组件的数量与所述第二安装板的形状所包含的角的数量相同，且所述调节组件分别设置于所述第二安装板的一面的角落上。
  4. 根据权利要求2所述的车载雷达调节装置，其特征在于，所述第二安装板的至少一边设置有所述调节组件。
  5. 根据权利要求4所述的车载雷达调节装置，其特征在于，所述第二安装板的一边上设置有至少两个所述调节组件，所述至少两个调节组件之间的连线形成所述水平方向的轴线。
  6. 根据权利要求1-5任一项所述的车载雷达调节装置，其特征在于，所述调节组件包括驱动部和活动部，所述驱动部连接于所述第一安装板，所述活动部连接于所述第二安装板，所述驱动部用于驱动所述活动部相对于所述第二安装板活动，以带动所述第二安装板绕所述水平方向的轴线转动。
  7. 根据权利要求6所述的车载雷达调节装置，其特征在于，所述活动部包括转动机构和移动机构，所述移动机构与所述转动机构连接；
    所述转动机构还与所述第二安装板可转动地连接，所述移动机构的还与所述驱动部连接；
    所述驱动部驱动所述移动机构沿竖直方向移动，并通过所述转动机构带动所述第二安装板转动。
  8. 根据权利要求7所述的车载雷达调节装置，其特征在于，所述转动机构包括万向球轴承，所述万向球轴承安装于所述第二安装板。
  9. 根据权利要求7所述的车载雷达调节装置，其特征在于，所述万向球轴承包括外圈和滚子，所述滚子可转动地设于所述外圈；
    所述外圈与所述第二安装板连接，所述滚子与所述移动结构连接。
  10. 根据权利要求7所述的车载雷达调节装置，其特征在于，所述移动机构包括丝杠螺母以及丝杠，所述丝杠螺母套设于所述丝杠；
    所述丝杠螺母与所述转动机构连接，所述丝杠与所述驱动部连接；
    所述驱动部可驱动所述丝杆转动并带动所述丝杆螺母沿竖直方向移动。
  11. 根据权利要求7所述的车载雷达调节装置，其特征在于，所述驱动部为电机动力总成。
  12. 根据权利要求1所述的车载雷达调节装置，其特征在于，所述车载雷达调节装置还包括角度传感器，所述角度传感器与所述控制器电连接；
    所述角度传感器用于检测雷达角度变化信息并传递给所述控制器。
  13. 根据权利要求12所述的车载雷达调节装置，其特征在于，所述角度传感器设于所述车载雷达内或者所述车载雷达的某个面上。
  14. 根据权利要求12所述的车载雷达调节装置，其特征在于，所述控制器用于接收角度传感器检测到的雷达角度变化信息进行处理后，确定是否需要调节车载雷达的角度。
  15. 根据权利要求14所述的车载雷达调节装置，其特征在于，所述控制器还用于确定需要调节所述车载雷达的角度时，进一步确定需要调节车载雷达的角度的调节值，并控制所述调节组件带动所述第二安装板转动至所述调节值；
    其中，该调节值为所述第二安装板绕水平方向的轴线转动的角度。
  16. 一种车载雷达装置，其特征在于，包括：
    车载雷达；
    上述权利要求1-15任一项所述的车载雷达调节装置，所述车载雷达安装于所述第二安装板背离所述第一安装板的一面。
  17. 根据权利要求16所述的车载雷达装置，其特征在于，所述雷达通过紧固件锁紧于所述第二安装板。
PCT/CN2022/081405 2021-04-07 2022-03-17 一种车载雷达调节装置以及车载雷达装置 WO2022213786A1 (zh)

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