WO2022237342A1 - 一种隐藏式角激光雷达集成装置及具有其的车辆 - Google Patents

一种隐藏式角激光雷达集成装置及具有其的车辆 Download PDF

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Publication number
WO2022237342A1
WO2022237342A1 PCT/CN2022/082890 CN2022082890W WO2022237342A1 WO 2022237342 A1 WO2022237342 A1 WO 2022237342A1 CN 2022082890 W CN2022082890 W CN 2022082890W WO 2022237342 A1 WO2022237342 A1 WO 2022237342A1
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WO
WIPO (PCT)
Prior art keywords
laser radar
plate
fixed
rod
lifting
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2022/082890
Other languages
English (en)
French (fr)
Inventor
李鸿双
刘少彦
李博
朱永青
王砚红
和仕超
龙宪阁
魏群雄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Lotus Cars Co Ltd
Original Assignee
Wuhan Lotus Cars Co Ltd
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 Wuhan Lotus Cars Co Ltd filed Critical Wuhan Lotus Cars Co Ltd
Priority to KR1020237037555A priority Critical patent/KR102978568B1/ko
Priority to EP22806312.9A priority patent/EP4339636A4/en
Priority to US18/554,469 priority patent/US20240201335A1/en
Publication of WO2022237342A1 publication Critical patent/WO2022237342A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • 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
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
    • G01S2007/4977—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen including means to prevent or remove the obstruction

Definitions

  • the invention relates to the technical field of laser radar, in particular to a hidden angle laser radar integrated device and a vehicle with the same.
  • Lidar is an important sensor for high-level intelligent driving and automatic driving. Using Lidar can make up for the shortcomings of cameras and millimeter-wave radars: compared with cameras, it can build a more realistic 3D environment and does not depend on ambient light. Wave radar has higher resolution and more accurate object recognition capabilities.
  • lidar is limited by the volume of the laser and the area of the laser emitting (receiving) mirror. Compared with the camera and millimeter-wave radar, the overall size is larger. It is difficult to arrange on the whole vehicle, and it is easily restricted by the layout and shape.
  • the horizontal field of view of lidar (the field of view for perceiving point cloud information) is generally around 120 degrees.
  • the existing technology usually requires 4-5 laser radars for field of view stitching.
  • the corner lidar is generally installed at the corner or side of the car body or at the lower position on both sides of the front and rear bumpers. It is responsible for sensing the side view.
  • the front and rear lidar vision it can obtain a 360-degree horizontal lidar vision.
  • the device that fixes the lidar to the body is relatively simple from the outside, and has a great influence on the shape, which cannot reflect the technological sense of the autonomous driving scene, and will cause the heat dissipation problem of the lidar;
  • the horizontal field of view of the laser radar is generally around 120 degrees.
  • the layout of 4-5 laser radars will cause a waste of the field of view.
  • the price of the laser radar is expensive, and the single cost is usually more than 5,000 RMB. Conducive to the vehicle cost;
  • the lidar adopts a fixed solution, and the lens is exposed to the outside, while the lidar lens is mostly made of PC or glass, which is less hard than sand and gravel, and has a high risk of being scratched during use.
  • the present invention provides a hidden corner laser radar integration device and a vehicle with it, which reduces the number of corner laser radars from 4-5 to 2, which has a cost advantage; it is arranged at the position of the front fender, The risk of collision is reduced compared to the position of the front and rear bumpers; the integrated hidden cleaning system improves the user experience, and at the same time meets the requirements for the beautiful appearance of the roof and enhances the sense of technology of the vehicle.
  • a hidden corner lidar integrated device at least includes a cover plate, a fixed bracket, a lifting structure, a pop-up structure, a laser radar, and a controller.
  • the size of the opening on the sub-board matches, the fixed bracket, the lifting structure, the pop-up structure, the laser radar, and the controller are all located inside the fender, and the lifting structure is arranged on the fixing bracket and connected to the cover. board, and can drive the cover to move up and down under the control of the controller, the lidar is set on the pop-up structure, the pop-up structure is set on the fixed bracket, and can Under the control of the controller, it moves outward relative to the fixed bracket to push the lidar out of the fender.
  • the fixing bracket includes a first fixing plate and a connecting plate, the first fixing plate is located on both sides of the connecting plate, and the first fixing plate passes through the front body longitudinal beam inside the fender Bolt on.
  • the lifting structure at least includes a first motor, a transmission shaft, a first gear, a screw rod, a lifting rod, a sliding rail, a fixing block, and a second fixing plate, and the sliding rail is directed upward from the bottom of the fixing bracket. Inwardly inclined, its bottom end is fixed with the connecting plate, and the top end is provided with a fixed block; the screw rod passes through the fixed block and is arranged parallel to the slide rail, and its lower end is provided with a lifting rod, and the top of the screw rod A first gear is fixed, and the lifting rod is connected to the cover plate; a first motor and a controller are fixed on the second fixed plate, and the motor is connected to a transmission shaft, and the transmission shaft is connected to the first gears meshing.
  • the fixing block is screwed to the screw rod
  • the lifting rod includes a first lifting rod and a second lifting rod
  • the first lifting rod is sleeved on the lower end of the screw rod and is screwed to it
  • One end of the second elevating rod is connected to the first elevating rod, and the other end is fixedly connected to the bottom end on one side of the cover plate.
  • a cleaning structure is also included, and the cleaning structure is arranged on the pop-up structure together with the lidar.
  • the cleaning structure at least includes a fixed frame, a solenoid valve, a nozzle, a connection part, and a water inlet.
  • One end of the solenoid valve is connected to the connection part, and the other end is connected to the water inlet.
  • the pipeline is connected with the waterway of the whole vehicle; the nozzle is connected with the connection part and has a telescopic function.
  • the pop-up structure at least includes a second motor, a reducer, a second gear, a moving plate, a moving rod, and a sealing strip
  • the output shaft of the second motor is connected to the reducer
  • the reducer is connected to the reducer.
  • the second gear is connected
  • the moving plate is placed on the connecting plate of the fixed bracket, and has a set angle with the outer edge of the connecting plate, and the laser radar and cleaning structure are installed on the moving plate
  • the sealing strip is installed on the front side of the moving plate.
  • the moving rod includes a first moving rod and a second moving rod, and the second moving rod is connected to the first moving rod at a set angle, so There is also a protruding column under one end of the first moving rod, and the protruding post is engaged with the small hole.
  • the second moving rod is arc-shaped, and a section of the outer side is provided with teeth, and the teeth are connected to the second gears meshing.
  • a mirror is fixed on one side of the lidar, and a second wiring harness is provided on the other side, and the second wiring harness is connected to the automatic driving domain controller or the advanced assisted driving domain controller.
  • the present invention also provides a vehicle, which includes the above-mentioned hidden corner lidar integration device.
  • the invention provides a hidden corner lidar integrated device, adopting a hidden scheme, which can be retracted into the vehicle body in the standby state of the lidar, so as to avoid affecting the appearance and shape, and reduce the risk of being scratched by sand and stones; the automatic driving function is activated When the lidar is turned out to the working position, it increases the sense of technology; the integrated hidden cleaning structure keeps the lidar mirror clean during the automatic driving process, greatly reducing the frequency of manual cleaning and improving user experience; the number of corner lidars is reduced from 4 -5 is reduced to 2, which has a cost advantage; it is arranged at the front fender, and the risk of collision is reduced compared with the position of the front and rear bumpers.
  • Fig. 1 is a schematic diagram of the installation position of the hidden corner laser radar integration device of the present invention on the vehicle body.
  • FIG. 2 is a schematic diagram of the overall structure of the hidden-angle laser radar integration device of the present invention.
  • Fig. 3 is a structural schematic diagram of the lifting structure in the present invention.
  • Fig. 4 is a schematic diagram of the cleaning structure in the present invention.
  • Fig. 5 is a schematic structural view of the fixing frame in the present invention.
  • Fig. 6 is a schematic diagram of the pop-up structure in the present invention.
  • Fig. 7 is a top view of the laser radar in the open state of the present invention.
  • the hidden angle laser radar integrated device at least includes a cover plate 10, a fixed bracket 20, a lifting structure 30, a cleaning structure 40, a pop-up structure 50, a laser radar 60, and a controller 70,
  • the cover plate 10 is located on the body fender 80, and matches the size of the opening on the fender 80.
  • the device 70 is located inside the fender 80, the lifting structure 30 is arranged on the fixed bracket 20 and connected with the cover 10, and can drive the cover under the control of the controller 70
  • the board 10 moves up and down, the lidar 60 is set on the pop-up structure 50, the pop-up structure 50 is set on the fixed bracket 20, and can be controlled by the controller 70 relative to the fixed bracket 20 Moving outward, the laser radar 60 is pushed out of the inside of the fender 80, the cleaning structure 40 is arranged on the pop-up structure 50 together with the laser radar 60, and the controller 70 is located on the laser
  • the top of the radar 60 is connected with the automatic driving or advanced assisted driving domain controller through the first wiring harness.
  • the fixed bracket 20 includes a first fixed plate 21 and a connecting plate 22, the first fixed plate 21 is located on both sides of the connected plate 22, the first fixed plate 21 and the connecting plate Said fender plate 80 inner side front body longitudinal beam is fixed by bolts.
  • the lifting structure 30 at least includes a first motor 31, a transmission shaft 32, a first gear 33, a screw 34, a lifting rod 35, a slide rail 36, a fixed block 37, a second Fixed plate 38 .
  • the slide rail 36 extends obliquely from the bottom to the top of the fixed bracket 20, and its bottom end is fixed to the connecting plate 22, and the top end is provided with a fixing block 37; the screw rod 34 passes through the fixing block 37 is arranged in parallel with the slide rail 36, and the fixed block 37 is threadedly connected with the screw rod 34.
  • the lower end of the screw rod 34 is provided with a lifting rod 35, and the top end is fixed with a first gear 33.
  • the lifting rod 35 It includes a first lifting rod 351 and a second lifting rod 352.
  • the first lifting rod 351 is sleeved on the lower end of the screw rod 34 and screwed to it.
  • One end of the second lifting rod 352 is connected to the first lifting rod 352.
  • the rod 351 is connected at a set angle, and the other end is fixedly connected with the bottom end on one side of the cover plate 10; the second fixed plate 38 is fixed with a first motor 31 and a controller 70, and the motor 31 is connected with a transmission shaft 32, the transmission shaft 32 meshes with the first gear 33, when the first motor 31 rotates forward, it drives the transmission shaft 32 to rotate, and the transmission shaft 32 drives the first gear 33 to rotate, The first gear 33 drives the screw rod 34 to rotate, and the first lifting rod 351 moves upward relative to the screw rod 34, and drives the second lifting rod 352 and the cover plate 10 to move upward.
  • the laser radar 60 and the cleaning structure 40 are ejected from the outside of the fender 80 driven by the ejection structure 50.
  • the first motor 31 reverses, the movement process is opposite to the forward rotation , the cover plate 10 descends, and the lidar 60 and the cleaning structure 40 are retracted to the inside of the fender 80 driven by the pop-up structure 50 .
  • the lifting structure 30 is not limited to the lifting structure 30 described in this embodiment, and any device with a lifting function can replace the lifting structure 30 described in this embodiment.
  • any device with a lifting function can replace the lifting structure 30 described in this embodiment.
  • the specific structure of the lifting structure in the present invention will not be described in detail.
  • the cleaning structure 40 at least includes a fixed frame 41, a solenoid valve 42, a nozzle 43, a connecting portion 44, a water inlet 45, and the laser radar 60 is located on the fixed frame 41 , on both sides of the fixed frame 41 are respectively provided with a combined structure 411 of a solenoid valve 42 , a nozzle 43 , a connecting portion 44 and a water inlet 45 .
  • one end of the electromagnetic valve 42 is connected to the connecting portion 44, and the other end is connected to the water inlet 45 to control the opening and closing of the water inlet 45.
  • the pipeline connected to the water inlet 45 is connected to the whole Car water connection.
  • the nozzle 43 is connected to the connection part 44, and the nozzle 43 has a telescopic function, and when not in use, it is retracted into the inside of the connection part 44, and is stretched out of the connection part 44 by the action of water pressure when in use. Connecting part 44 .
  • the nozzle 43 can either be a telescopic structure that can extend or retract into the connection part 44, or a fixed structure that is directly fixed on the connection part 44 and does not move relative to the connection part 44. In an embodiment, the nozzle 43 is retractable.
  • the pop-up structure 50 at least includes a second motor 51 , a reducer 52 , a second gear 53 , a moving plate 54 , a moving rod 55 , and a sealing strip 56 .
  • the second motor 51 is fixed inside the fender 80 , its output shaft is connected to the reducer 52 , the reducer 52 is connected to the second gear 53 , and the moving plate 54 Placed on the connecting plate 22 of the fixed bracket 20, and can swing inside and outside relative to the fixed bracket 20, when the moving plate 54 rotates out relative to the fixed bracket 20, the moving plate 54 and the outer edge bracket of the connecting plate 22 form a set In this embodiment, it is at an angle of 30 degrees.
  • the laser radar 60 and the cleaning structure 40 are installed on the moving plate 54, and the moving plate 54 is also provided with a small hole 541.
  • the moving rod 55 It includes a first moving rod 551 and a second moving rod 552 , the first moving rod 551 passes through a slot on the first fixing plate 21 close to it, and can swing relative to the first fixing plate 21 .
  • the bottom of one end of the first moving rod 551 is provided with a boss 5511, and the boss 5511 is engaged with the small hole 541 on the moving plate 54.
  • the second moving rod 552 is arc-shaped, and the outer section is set There are teeth, meshed with the second gear 53, the second moving rod 552 is connected to the first moving rod 551 at a set angle, and the sealing strip 56 can be installed on the front side of the moving plate 54 , can also be fixed around the inner opening of the fender 80.
  • the sealing strip 56 is installed on the front side of the moving plate 54.
  • the second motor 51 rotates forward
  • the second gear 53 rotates, driving the second moving rod 552 to rotate, and then driving the first moving rod 551 to rotate, and the first moving rod 551 to rotate.
  • the moving plate 54, the laser radar 60 and the cleaning structure 40 are rotated out and ejected to the outside of the fender 80.
  • the sealing strip 56 and the inside of the fender 80 The openings are bonded around, and the sealing strip 56 has a waterproof effect, which can prevent sewage from splashing into the inside of the fender 80 when the cleaning structure 40 is working.
  • the second motor 51 rotates, the moving plate 54.
  • the lidar 60 and the cleaning structure 40 are retracted to the inside of the fender 80 .
  • pop-up structure 50 is not limited to the pop-up structure 50 described in this embodiment, and any device with a pop-up function can replace the pop-up structure 50 described in this embodiment.
  • the specific structure of the pop-up structure in the present invention will not be repeated.
  • a mirror 61 is fixed on the working side of the lidar 60, and a second wiring harness is connected to the other side, and the second wiring harness is connected to the automatic driving or advanced assisted driving domain controller.
  • the second wiring harness can transmit a signal to the automatic driving or advanced assisted driving domain controller, and the automatic driving or advanced assisted driving domain controller
  • a cleaning signal is sent to the solenoid valve 42, the solenoid valve 42 is turned on, and the nozzle 43 sprays water against the mirror surface 61 for cleaning.
  • the nozzle 43 in FIG. 4 is a state diagram when it is stretched out, and the dotted line is the water spray range, that is, the water sprayed from the nozzles 43 on both sides can cover the entire mirror surface 61 .
  • the hidden angle laser radar integration device provided by the present invention is installed on the fenders 80 on both sides of the front of the vehicle body, and the working angle is 30 degrees from the forward direction of the vehicle body. Perceived horizontal field of view of 120 degrees.
  • the working principle of the hidden corner laser radar integration device is as follows: when the user has a driving demand, the automatic driving or advanced assisted driving domain controller sends a signal to start the corner laser radar integration device, and the controller 70 inside the integration device First, the first motor 31 is driven to rotate forward, and the lifting structure 30 starts to work.
  • the controller 70 drives the second motor 51 to rotate forward, the pop-up structure 50 starts to work, and the speed reducer 52, the second gear Driven by 53, the second moving rod 552 rotates, the first moving rod 551 drives the moving plate 54 to move, the laser radar 60 and the cleaning structure 40 are ejected from the outside of the fender 80, And at an angle of 30 degrees with the forward direction of the vehicle body, the laser radar 60 starts to work; when the laser radar 60 detects that the mirror 61 is affected by dirt, it will send a dirty signal to the control of the automatic driving or advanced assisted driving domain The automatic driving or advanced assisted driving domain controller sends a cleaning signal to the controller 70 inside the integrated device.
  • the automatic driving or advanced assisted driving domain controller drives the cleaning water pump to pressurize the waterway. After a period of delay, the integrated device
  • the internal controller 70 drives the cleaning structure 40 to start working, the solenoid valve 42 is opened, the nozzle 43 sprays water to clean the mirror surface 61 of the lidar 60, and after cleaning, the solenoid valve 42 is closed;
  • the automatic driving or advanced assisted driving domain controller sends a signal to shut down the lidar integrated device, and the controller 70 inside the integrated device drives the first motor 31 and the second motor 51 to reverse,
  • the corner lidar integration device is closed and hidden inside the fender 80 .
  • the hidden corner lidar integrated device has the following advantages: adopting a hidden scheme, the lidar will be retracted into the vehicle body in the standby state, avoiding the impact on the appearance, and reducing the impact of sand and stones. Risk of scratches; when the automatic driving function is activated, the lidar is turned out to the working position to increase the sense of technology; the integrated hidden cleaning structure keeps the lidar mirror clean during the automatic driving process, greatly reducing the frequency of manual cleaning and improving user experience; Reducing the number of corner lidars from 4-5 to 2 has a cost advantage; if they are placed on the front fenders, the risk of collision is reduced compared to the positions of the front and rear bumpers.
  • the present invention also provides a vehicle, which includes the above-mentioned hidden corner laser radar integration device.
  • a vehicle which includes the above-mentioned hidden corner laser radar integration device.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Power Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种隐藏式角激光雷达集成装置，至少包括盖板（10）、固定支架（20）、升降结构（30）、弹出结构（50）、激光雷达（60）、控制器（70），盖板（10）位于车身翼子板（80）上，并与翼子板（80）上的开口大小吻合，固定支架（20）、升降结构（30）、弹出结构（50）、激光雷达（60）、控制器（70）均位于翼子板（80）的内部，升降结构（30）设于固定支架（20）上且与盖板（10）连接，激光雷达（60）设于弹出结构（50）上，弹出结构（50）设于固定支架（20）上。该隐藏式角激光雷达集成装置，将角激光雷达的数量由4-5个降为2个，存在成本优势；布置在前翼子板（80）位置，碰撞风险相比布置在前后保险杆位置有所降低。

Description

一种隐藏式角激光雷达集成装置及具有其的车辆
本专利申请要求2021年05月12日提交的申请号为202121029038.3，申请人为武汉路特斯科技有限公司，发明名称为“一种隐藏式角激光雷达集成装置及具有其的车辆”的中国专利申请的优先权，上述申请的全文以引用的方式并入本申请中。
技术领域
本发明涉及激光雷达技术领域，具体涉及一种隐藏式角激光雷达集成装置及具有其的车辆。
 背景技术
激光雷达是实现高级别智能驾驶及自动驾驶的重要传感器，使用激光雷达可以弥补摄像头和毫米波雷达的缺陷：比起摄像头可以构建更真实的3D环境，且不依赖于环境光线，而比起毫米波雷达又有更高分辨率和更准确的物体识别能力。
目前，激光雷达受激光器体积和激光发射（接收）镜面面积限制，整体尺寸与摄像头和毫米波雷达相比较大，在整车上布置困难，易受到布置和造型的限制。
激光雷达的水平视场角（感知点云信息的视野范围）一般在120度左右，为了感知360度水平视野，现有技术通常需要4-5个激光雷达进行视野拼接。角激光雷达顾名思义，一般安装在车身角落或侧边或前后保险杆两侧靠下位置，负责感知侧向视野，作为前后向激光雷达视野的补充，实现获取360度的激光雷达水平视野。
 技术问题
现有技术的解决方案中存在一些缺陷：
1、将激光雷达固定在车身的装置从外观看较为简单，且对造型有较大影响，无法体现自动驾驶使用场景的科技感，且会带来激光雷达散热问题；
2、激光雷达水平视场角一般在120度左右，4-5个激光雷达的布置方案会造成视场角的浪费，而激光雷达售价昂贵，单个成本通常大于5000人民币，这种布置方式不利于整车成本；
3、布置在前后保险杆边角靠下位置，而这些位置是碰撞多发区域，结合激光雷达成本高的特点，这种布置方式不利于整车维修经济性；
4、激光雷达采用固定式方案，镜头裸漏在外，而激光雷达镜头多采用PC或玻璃材质，硬度小于砂石，在使用过程中被划伤风险较高。
 技术解决方案
有鉴于此，本发明提供一种隐藏式角激光雷达集成装置及具有其的车辆，将角激光雷达的数量由4-5个降为2个，存在成本优势；布置在前翼子板位置，碰撞风险相比布置在前后保险杆位置有所降低；集成隐藏式清洗系统，提高用户体验，同时满足对车顶造型美观的要求，提升车辆科技感。
本发明提供的一种隐藏式角激光雷达集成装置，至少包括盖板、固定支架、升降结构、弹出结构、激光雷达、控制器，所述盖板位于车身翼子板上，并与所述翼子板上的开口大小吻合，所述固定支架、升降结构、弹出结构、激光雷达、控制器均位于所述翼子板的内部，所述升降结构设于所述固定支架上且与所述盖板连接，并能够在所述控制器的控制下驱动所述盖板上下运动，所述激光雷达设于所述弹出结构上，所述弹出结构设于所述固定支架上，且能够在所述控制器的控制下相对所述固定支架向外运动，将所述激光雷达推出所述翼子板的内部。
进一步地，所述固定支架包括第一固定板、连接板，所述第一固定板位于所述连接板的两侧，所述第一固定板与所述翼子板内侧的前车身纵梁通过螺栓固定。
进一步地，所述升降结构至少包括第一电机、传动轴、第一齿轮、丝杆、升降杆、滑轨、固定块、第二固定板，所述滑轨自所述固定支架的下方向上方向内倾斜，其底端与所述连接板固定，顶端设有固定块；所述丝杆穿过所述固定块与所述滑轨平行设置，其下端设有升降杆，所述丝杆的顶部固定有第一齿轮，所述升降杆与所述盖板连接；所述第二固定板上固定有第一电机和控制器，所述电机连接有传动轴，所述传动轴与所述第一齿轮啮合。
进一步地，所述固定块与所述丝杆螺纹连接，所述升降杆包括第一升降杆、第二升降杆，所述第一升降杆套设在所述丝杆的下端且与其螺纹连接，所述第二升降杆的一端与所述第一升降杆连接，另一端与所述盖板一侧的底端固定连接。
进一步地，还包括清洗结构，所述清洗结构与所述激光雷达一起设于所述弹出结构上。
进一步地，所述清洗结构至少包括固定架、电磁阀、喷嘴、连接部、进水口，所述电磁阀一端和所述连接部连接，另一端和所述进水口连接，所述进水口连接的管路与整车水路连接；所述喷嘴和所述连接部连接，且具有伸缩功能。
进一步地，所述弹出结构至少包括第二电机、减速器、第二齿轮、移动板、移动杆、密封条，所述第二电机的输出轴和所述减速器连接，所述减速器与所述第二齿轮连接，所述移动板放置在所述固定支架的连接板上，且与所述连接板的外边缘呈设定的角度，所述激光雷达和清洗结构安装在所述移动板上，所述密封条安装在所述移动板的前侧。
进一步地，所述移动板上还设有一小孔，所述移动杆包括第一移动杆和第二移动杆，所述第二移动杆与所述第一移动杆呈设定的角度连接，所述第一移动杆一端的下方还设有凸柱，所述凸柱与所述小孔卡接，所述第二移动杆为弧形，外侧一段设有齿，所述齿与所述第二齿轮啮合。
进一步地，所述激光雷达的一侧固定有镜面，另一侧设有第二线束，所述第二线束与自动驾驶域控制器或高级辅助驾驶域控制器连接。
本发明还提供一种车辆，该车辆包括上述一种隐藏式角激光雷达集成装置。
 有益效果
本发明提供的一种隐藏式角激光雷达集成装置，采用隐藏式方案，在激光雷达待机状态会收回到车身内，避免对外观造型产生影响，且降低被砂石划伤风险；自动驾驶功能激活时激光雷达转出至工作位置，增加科技感；集成隐藏式清洗结构，在自动驾驶过程中始终保持激光雷达镜面清洁，极大降低人为清理频次，提高用户体验；将角激光雷达的数量由4-5个降为2个，存在成本优势；布置在前翼子板位置，碰撞风险相比前后保险杆位置有所降低。
 附图说明
图1为本发明隐藏式角激光雷达集成装置在车身的安装位置示意图。
图2为本发明隐藏式角激光雷达集成装置的整体结构示意图。
图3为本发明中升降结构的结构示意图。
图4为本发明中清洗结构的示意图。
图5为本发明中固定架的结构示意图。
图6为本发明中弹出结构的示意图。
图7为本发明中激光雷达开启状态的俯视图。
 本发明的实施方式
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。
在本发明的描述中，需要说明的是，本描述中指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
请参图1和图2，本发明提供的隐藏式角激光雷达集成装置，至少包括盖板10、固定支架20、升降结构30、清洗结构40、弹出结构50、激光雷达60、控制器70，所述盖板10位于车身翼子板80上，并与所述翼子板80上的开口大小吻合，所述固定支架20、升降结构30、清洗结构40、弹出结构50、激光雷达60、控制器70均位于所述翼子板80的内部，所述升降结构30设于所述固定支架20上且与所述盖板10连接，并能够在所述控制器70的控制下驱动所述盖板10上下运动，所述激光雷达60设于所述弹出结构50上，所述弹出结构50设于所述固定支架20上，且能够在所述控制器70的控制下相对所述固定支架20向外运动，将所述激光雷达60推出所述翼子板80的内部，所述清洗结构40与所述激光雷达60一起设于所述弹出结构50上，所述控制器70位于所述激光雷达60的上方且通过第一线束与自动驾驶或高级辅助驾驶域控制器连接。
具体地请再参图2，所述固定支架20包括第一固定板21、连接板22，所述第一固定板21位于所述连接板22的两侧，所述第一固定板21与所述翼子板80内侧前车身纵梁通过螺栓固定。
具体的，请参图2和图3，所述升降结构30至少包括第一电机31、传动轴32、第一齿轮33、丝杆34、升降杆35、滑轨36、固定块37、第二固定板38。
进一步地，所述滑轨36自所述固定支架20下方向上方向内倾斜延伸，其底端与所述连接板22固定，顶端设有固定块37；所述丝杆34穿过所述固定块37与所述滑轨36平行设置，所述固定块37与所述丝杆34螺纹连接，所述丝杆34的下端设有升降杆35，顶端固定有第一齿轮33，所述升降杆35包括第一升降杆351、第二升降杆352，所述第一升降杆351套设在所述丝杆34的下端且与其螺纹连接，所述第二升降杆352的一端与所述第一升降杆351呈设定角度连接，另一端与所述盖板10一侧的底端固定连接；所述第二固定板38上固定有第一电机31和控制器70，所述电机31连接有传动轴32，所述传动轴32与所述第一齿轮33啮合，当所述第一电机31正转时，驱动所述传动轴32转动，所述传动轴32带动所述第一齿轮33转动，所述第一齿轮33带动所述丝杆34转动，所述第一升降杆351相对于所述丝杆34进行上升运动，带动所述第二升降杆352及盖板10进行上升运动，所述盖板10打开，所述激光雷达60和清洗结构40在所述弹出结构50的驱动下弹出所述翼子板80的外部，当所述第一电机31反转时，运动过程与正转相反，所述盖板10进行下降运动，所述激光雷达60和清洗结构40在所述弹出结构50的驱动下收回至所述翼子板80的内部。
需要说明的是，所述升降结构30并不局限于本实施例中所述描述的升降结构30，凡是具有升降功能的装置均可以替代本实施例中所描述的升降结构30，关于现有技术中的升降结构的具体结构在本发明中不再赘述。
具体地，请参图2和4、图5，所述清洗结构40至少包括固定架41、电磁阀42、喷嘴43、连接部44、进水口45，所述激光雷达60设于所述固定架41上，所述固定架41的两侧各设有一套电磁阀42、喷嘴43、连接部44、进水口45的组合结构411。具体而言，所述电磁阀42一端和所述连接部44连接，另一端和所述进水口45连接，控制所述进水口45的开和关，所述进水口45连接的管路与整车水路连接。所述喷嘴43和所述连接部44连接，所述喷嘴43具有伸缩功能，在不使用的时候，缩回到所述连接部44的内部，在使用的时候通过水压的作用伸出所述连接部44。
需要说明的是，所述喷嘴43既可以是能够伸出或缩入连接部44的伸缩式结构也可以是直接固定在连接部44上且不会相对连接部44运动的固定式结构，在本实施例中，所述喷嘴43是伸缩式的。
具体地，请参图2和图6，所述弹出结构50至少包括第二电机51、减速器52、第二齿轮53、移动板54、移动杆55、密封条56。
进一步地，所述第二电机51固定于所述翼子板80的内部，其输出轴和所述减速器52连接，所述减速器52与所述第二齿轮53连接，所述移动板54放置在所述固定支架20的连接板22上，且能够相对固定支架20内外摆动，当移动板54相对于固定支架20转出时，移动板54与所述连接板22的外边缘支架形成设定的角度，在本实施例中，呈30度角，所述激光雷达60和清洗结构40安装在所述移动板54上，所述移动54上还设有一小孔541，所述移动杆55包括第一移动杆551和第二移动杆552，所述第一移动杆551穿过靠近其的第一固定板21上的槽孔，且能够相对所述第一固定板21摆动。所述第一移动杆551一端的下方设有凸柱5511，所述凸柱5511与所述移动板54上的小孔541卡接，所述第二移动杆552为为弧形，外侧一段设有齿，与所述第二齿轮53啮合，所述第二移动杆552与所述第一移动杆551呈设定的角度连接，所述密封条56可以安装在所述移动板54的前侧，也可以固定在所述翼子板80内部开口的四周，在本实施例中，所述密封条56安装在所述移动板54的前侧，当所述第二电机51正转时，在所述第二电机51和减速器52的驱动下，所述第二齿轮53转动，带动所述第二移动杆552转动，进而带动所述第一移动杆551转动，与所述第一移动杆551连接的所述移动板54、所述激光雷达60和所述清洗结构40转出，弹出至所述翼子板80外部，此时，所述密封条56与所述翼子板80内部的开孔四周贴合，所述密封条56具有防水作用，可以防止所述清洗结构40工作时，污水溅入所述翼子板80内部，当所述第二电机51转时，所述移动板54、所述激光雷达60和所述清洗结构40收回至所述翼子板80内部。
需要说明的是，所述弹出结构50并不局限于本实施例中所述描述的弹出结构50，凡是具有弹出功能的装置均可以替代本实施例中所描述的弹出结构50，关于现有技术中的弹出结构的具体结构在本发明中不再赘述。
具体地，请参图4及图7，所述激光雷达60工作的一侧固定有镜面61，另一侧还连接有第二线束，所述第二线束与自动驾驶或高级辅助驾驶域控制器连接，当所述激光雷达60检测出所述镜面61受到脏污影响的时候，所述第二线束可以将信号传输给自动驾驶或高级辅助驾驶域控制器，自动驾驶或高级辅助驾驶域控制器发送清洗信号给所述电磁阀42，所述电磁阀42开启，所述喷嘴43对着所述镜面61喷水，进行清洗工作。图4中所述喷嘴43为伸出时的状态图，虚线为喷水范围，即两侧所述喷嘴43喷出的水可以覆盖到整个所述镜面61。
需要说明的是，请参图1和图7，本发明提供的隐藏式角激光雷达集成装置安装在车身前端两侧的翼子板80上，工作角度为与车身前向成30度夹角，可感知120度的水平视野。
本发明提供的隐藏式角激光雷达集成装置的工作原理如下：当用户有驾驶需求时，自动驾驶或高级辅助驾驶域控制器发出角激光雷达集成装置开启信号，集成装置内部的所述控制器70首先驱动所述第一电机31正转，所述升降结构30开始工作，在所述传动轴32、第一齿轮33、丝杆34的转动下，所述第一升降杆351和所述第二升降杆352带动所述盖板10上升，将隐藏口打开，接着所述控制器70驱动所述第二电机51正转，所述弹出结构50开始工作，在所述减速器52、第二齿轮53的带动下，所述第二移动杆552发生转动，所述第一移动杆551带动所述移动板54移动，所述激光雷达60和清洗结构40被弹出所述翼子板80的外部，并与车身前进方向呈30度角，所述激光雷达60开始工作；当所述激光雷达60检测出所述镜面61受到脏污影响时会发出脏污信号给到自动驾驶或高级辅助驾驶域控制器，自动驾驶或高级辅助驾驶域控制器发出清洗信号给到集成装置内部的所述控制器70，自动驾驶或高级辅助驾驶域控制器驱动清洗水泵给水路加压，延时一段时间后集成装置内部的所述控制器70驱动所述清洗结构40开始工作，所述电磁阀42打开，所述喷嘴43喷水清洗所述激光雷达60的镜面61，清洗结束后，所述电磁阀42关闭；当驾驶功能退出时，自动驾驶或高级辅助驾驶域控制器发出顶激光雷达集成装置关闭信号，集成装置内部的所述控制器70驱动所述第一电机31和所述第二电机51反转，角激光雷达集成装置关闭，隐藏至所述翼子板80内部。
经过上面的叙述可以知道，本发明提供的隐藏式角激光雷达集成装置具有以下优点：采用隐藏式方案，在激光雷达待机状态会收回到车身内，避免对外观造型产生影响，且降低被砂石划伤风险；自动驾驶功能激活时激光雷达转出至工作位置，增加科技感；集成隐藏式清洗结构，在自动驾驶过程中始终保持激光雷达镜面清洁，极大降低人为清理频次，提高用户体验；将角激光雷达的数量由4-5个降为2个，存在成本优势；布置在前翼子板位置，碰撞风险相比前后保险杆位置有所降低。
本发明还提供了一种车辆，其包括上述所述的一种隐藏式角激光雷达集成装置，关于该车辆的其它技术特征，请参见现有技术，在此不再赘述。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种隐藏式角激光雷达集成装置，其特征在于，至少包括盖板（10）、固定支架（20）、升降结构（30）、弹出结构（50）、激光雷达（60）、控制器（70），所述盖板（10）位于车身翼子板（80）上，并与所述翼子板（80）上的开口大小吻合，所述固定支架（20）、升降结构（30）、弹出结构（50）、激光雷达（60）、控制器（70）均位于所述翼子板（80）的内部，所述升降结构（30）设于所述固定支架（20）上且与所述盖板（10）连接，并能够在所述控制器（70）的控制下驱动所述盖板（10）上下运动，所述激光雷达（60）设于所述弹出结构（50）上，所述弹出结构（50）设于所述固定支架（20）上，且能够在所述控制器（70）的控制下相对所述固定支架（20）向外运动，将所述激光雷达（60）推出所述翼子板（80）的内部。
  2. 如权利要求1所述的隐藏式角激光雷达集成装置，其特征在于，所述固定支架（20）包括第一固定板（21）、连接板（22），所述第一固定板（21）位于所述连接板（22）的两侧，所述第一固定板（21）与所述翼子板（80）内侧的前车身纵梁通过螺栓固定。
  3. 如权利要求2所述的隐藏式角激光雷达集成装置，其特征在于，所述升降结构（30）至少包括第一电机（31）、传动轴（32）、第一齿轮（33）、丝杆（34）、升降杆（35）、滑轨（36）、固定块（37）、第二固定板（38），所述滑轨（36）自所述固定支架（20）的下方向上方向内倾斜，其底端与所述连接板（22）固定，顶端设有固定块（37）；所述丝杆（34）穿过所述固定块（37）与所述滑轨（36）平行设置，其下端设有升降杆（35），所述丝杆（34）的顶部固定有第一齿轮（33），所述升降杆（35）与所述盖板（10）连接；所述第二固定板（38）上固定有第一电机（31）和所述控制器（70），所述第一电机（31）连接有传动轴（32），所述传动轴（32）与所述第一齿轮（33）啮合。
  4. 如权利要求3所述的隐藏式角激光雷达集成装置，其特征在于，所述固定块（37）与所述丝杆（34）螺纹连接，所述升降杆（35）包括第一升降杆（351）、第二升降杆（352），所述第一升降杆（351）套设在所述丝杆（34）的下端且与其螺纹连接，所述第二升降杆（352）的一端与所述第一升降杆（351）连接，另一端与所述盖板（10）一侧的底端固定连接。
  5. 如权利要求1所述的隐藏式角激光雷达集成装置，其特征在于，还包括清洗结构（40），所述清洗结构（40）与所述激光雷达（60）一起设于所述弹出结构（50）上。
  6. 如权利要求5所述的隐藏式角激光雷达集成装置，其特征在于，所述清洗结构（40）至少包括固定架（41）、电磁阀（42）、喷嘴（43）、连接部（44）、进水口（45），所述电磁阀（42）一端和所述连接部（44）连接，另一端和所述进水口（45）连接，所述进水口（45）连接的管路与整车水路连接；所述喷嘴（43）和所述连接部（44）连接，且具有伸缩功能。
  7. 如权利要求2所述的隐藏式角激光雷达集成装置，其特征在于，所述弹出结构（50）至少包括第二电机（51）、减速器（52）、第二齿轮（53）、移动板（54）、移动杆（55）、密封条（56），所述第二电机（51）的输出轴和所述减速器（52）连接，所述减速器（52）与所述第二齿轮（53）连接，所述移动板（54）放置在所述固定支架（20）的连接板（22）上，且与所述连接板（22）的外边缘呈设定的角度，所述激光雷达（60）和清洗结构（40）安装在所述移动板（54）上，所述密封条（56）安装在所述移动板（54）的前侧。
  8. 如权利要求7所述的隐藏式角激光雷达集成装置，其特征在于，所述移动板（54）上还设有一小孔（541），所述移动杆（55）包括第一移动杆（551）和第二移动杆（552），所述第二移动杆（552）与所述第一移动杆（551）呈设定的角度连接，所述第一移动杆（551）一端的下方还设有凸柱（5511），所述凸柱（5511）与所述小孔（541）卡接，所述第二移动杆（552）为弧形，外侧一段设有齿，所述齿与所述第二齿轮（53）啮合。
  9. 如权利要求1所述的隐藏式角激光雷达集成装置，其特征在于，所述激光雷达（60）的一侧固定有镜面（61），另一侧设有第二线束，所述第二线束与自动驾驶域控制器或高级辅助驾驶域控制器连接。
  10. 一种车辆，其特征在于，包括如权利要求1-9任一项所述的一种隐藏式角激光雷达集成装置。
PCT/CN2022/082890 2021-05-12 2022-03-24 一种隐藏式角激光雷达集成装置及具有其的车辆 Ceased WO2022237342A1 (zh)

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