CN207992434U - A kind of adjustable laser radar roll, pitch angle installing mechanism - Google Patents

Abstract

The utility model provides an installation mechanism capable of adjusting the roll and pitch angles of a laser radar, which belongs to the technical field of radar installation. It includes a connecting frame, a pitch and roll adjusting frame installed on the connecting frame and a lidar connecting frame installed on the pitching and rolling adjusting frame: the connecting frame includes two mutually perpendicular plates, and both the horizontal plate and the vertical plate are Mounting holes are provided; the pitch and roll adjustment frame includes a base plate and two side plates perpendicular to the base plate, the base plate is provided with an arc-shaped sliding groove corresponding to the mounting holes on the vertical plate of the connecting frame, and the side plates are also An arc-shaped sliding groove is provided; the laser radar connecting frame is provided with a laser radar installation hole and an installation hole corresponding to the arc-shaped sliding groove on the side plate of the pitch and roll adjustment frame. The utility model provides a laser radar installation mechanism with simple structure and convenient use, which is convenient for the installation of the laser radar, and can separately adjust the pitch and roll angles of the laser radar with strong flexibility.

Description

A mounting mechanism that can adjust the roll and pitch angles of lidar

technical field

The utility model belongs to the technical field of radar installation, in particular to an installation mechanism capable of adjusting the roll and pitch angles of a laser radar.

Background technique

Unmanned vehicles integrate computer science, intelligent control, sensor information processing and other technologies, reflecting the overall technological level of a country. The emergence of unmanned vehicles has greatly improved the safety of driving and reduced the incidence of traffic accidents. Unmanned driving has become an inevitable trend in the development of future automobiles. In the operation of unmanned vehicles, the perception of the surrounding environment of the vehicle is a key part. Compared with visual perception, the environment perception using lidar can obtain high-precision surrounding environment-related information in real time, so that the unmanned vehicle can accurately detect the surrounding obstacles. and other information to judge more accurately and efficiently.

Lidar is widely used in mobile robots, unmanned driving and other fields. It has the advantages of long detection distance, high precision, strong real-time performance, and is less affected by natural environments such as light, rain and snow in actual use, and has strong adaptability. Carrier operating environment perception based on lidar is the basis for advanced tasks such as local path planning and environmental perception. Whether it can quickly and accurately realize obstacle detection and passable area judgment is the key to realizing local path planning and autonomous obstacle avoidance. The essential.

Utility model content

The purpose of the utility model is to provide a laser radar installation structure which is easy to install and can adjust the pitch and roll angles of the laser radar in view of the increasingly common application of the laser radar.

The utility model purpose is achieved through the following technical solutions:

An installation mechanism that can adjust the roll and pitch angles of the laser radar, the installation mechanism includes a connecting frame, a pitch and roll adjustment frame installed on the connection frame, and a laser radar connection frame installed on the pitch and roll adjustment frame:

The connecting frame includes two mutually perpendicular plates, and mounting holes are arranged on the horizontal plate and the vertical plate;

The pitch and roll adjustment frame includes a base plate and two side plates perpendicular to the base plate. The base plate is provided with an arc-shaped sliding groove corresponding to the mounting hole on the vertical plate of the connecting frame, and the side plate is also provided with an arc-shaped sliding groove. groove;

The laser radar connecting frame is provided with a laser radar mounting hole and a mounting hole corresponding to the arc-shaped sliding groove on the side plate of the pitch and roll adjustment frame.

As a specific embodiment of the installation mechanism that can adjust the roll and pitch angles of the laser radar described in the present invention, the connecting frame realizes the installation and fixing of the entire connecting frame through the mounting holes on the horizontal plate.

As a specific embodiment of the installation mechanism of the utility model that can adjust the roll and pitch angles of the laser radar, the connecting frame is also provided with a right-angled triangular support plate perpendicular to the vertical plate and the horizontal plate.

As a specific embodiment of the installation mechanism for adjusting the roll and pitch angles of the laser radar described in the present invention, the two side plates of the pitch and roll adjustment frame are distributed on both sides of the bottom plate and are symmetrical to each other.

As a specific embodiment of the installation mechanism that can adjust the roll and pitch angles of the laser radar described in the present invention, the arc-shaped sliding grooves on the bottom plate of the pitch and roll adjustment frame are distributed on the bottom plate of the pitch and roll adjustment frame. The center position is on a circle with the same radius as the center of the circle; the arc-shaped slide grooves on the side plates of the pitch and roll adjustment frame are distributed on the same radius circle with the center of the side plate of the pitch and roll adjustment frame as the center of the circle.

As a specific embodiment of the installation mechanism that can adjust the roll and pitch angles of the laser radar described in the present invention, there are four arc-shaped sliding grooves on the bottom plate of the pitch and roll adjustment frame; the pitch and roll adjustment There are two arc-shaped sliding grooves on the side plate of the frame, which are symmetrically distributed up and down.

As a specific embodiment of the installation mechanism that can adjust the roll and pitch angles of the laser radar described in the present invention, the arc-shaped sliding grooves on the vertical plate of the pitch and roll adjustment frame are in groups of two, symmetrical distributed on both sides of the floor.

As a specific embodiment of the installation mechanism that can adjust the roll and pitch angles of the laser radar described in the present invention, the laser radar connecting frame includes a bottom plate and two side plates perpendicular to the bottom plate, and the side plates are provided with The lidar mounting hole and the mounting hole corresponding to the arc-shaped sliding groove on the side plate of the pitch and roll adjustment frame.

As a specific embodiment of the installation mechanism that can adjust the roll and pitch angles of the laser radar described in the present invention, the two side plates of the laser radar connecting frame are distributed on both sides of the bottom plate and are symmetrical to each other.

As a specific embodiment of the installation mechanism that can adjust the roll and pitch angles of the laser radar described in the utility model, the laser radar connecting frame is provided with five mounting holes, of which the upper and lower two are laser radar mounting holes, The middle three are installation holes corresponding to the arc-shaped sliding grooves on the side panels of the pitch and roll adjustment frame.

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

The utility model provides a laser radar installation mechanism with simple structure and convenient use. The installation mechanism of the present invention can realize the installation of the laser radar, and can separately adjust the pitch and roll angles of the laser radar according to requirements, and has certain flexibility.

The existing vehicle-mounted lidar is generally installed in front of the vehicle body to achieve effective perception of the road environment ahead. The installation mechanism of the present invention is combined with the general structure of the current automobile, and only needs to fix the connecting frame on the crossbeam of the front bumper of the automobile without making major changes to the structure of the automobile itself, so as to realize the installation and fixation of the vehicle-mounted laser radar.

Description of drawings

FIG. 1 is a disassembled schematic diagram of the installation mechanism in Example 1.

FIG. 2 is a schematic structural diagram of the connecting frame in Example 1.

FIG. 3 is a schematic structural diagram of the pitch and roll adjustment frame in Example 1. FIG.

FIG. 4 is a schematic structural diagram of the lidar connecting frame in Example 1.

FIG. 5 is a schematic diagram of the installation of the lidar installation mechanism in Example 1.

Reference signs: 1-connection frame, 2-pitch and roll adjustment frame, 3-lidar connection frame 4-single-line laser radar, 11-vertical plate, 12-horizontal plate, 111, 121-installation hole, 13-right angle Triangular support plate, 21-base plate, 22-side plate, 211,221-arc sliding groove, 31-bottom plate, 32-side plate, 321,322-installation hole.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in detail.

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

The installation mechanism of the utility model that can adjust the roll and pitch angles of the laser radar will be described in detail below in combination with the specific structure and principle.

The utility model provides an installation mechanism capable of adjusting the roll and pitch angles of the laser radar. The installation mechanism includes a connecting frame, a pitch and roll adjustment frame installed on the connection frame, and a laser radar installed on the pitch and roll adjustment frame. connecting frame.

In the installation mechanism of the utility model, the connecting frame is used to realize the fixing of the entire installation mechanism and the installation of the pitch and roll adjustment frame. The pitch and roll adjustment frame is installed on the connecting frame and can slide relative to the connecting frame, so that the rolling angle of the lidar can be changed. The laser radar connecting frame is installed on the pitch and roll adjustment frame and can slide relative to the pitch and roll adjustment frame, so that the pitch angle of the laser radar can be adjusted within a certain range. The lidar connecting frame is used to install the lidar.

Further description will be given below in conjunction with the specific structure of each component.

The connecting frame includes two mutually perpendicular plates, and both the horizontal plate and the vertical plate are provided with installation holes. The number and distribution of the mounting holes on the horizontal plate and the vertical plate of the connecting frame can be set according to specific usage conditions, as long as the fixing of the connecting frame itself and the fixed installation of the pitch and roll adjusting frame can be realized.

Furthermore, right-angled triangular support plates perpendicular to the horizontal plate and the vertical plate are also provided on the connecting frame. The right-angled triangular support frame is respectively perpendicular to the horizontal plate and the vertical plate, which can improve the stability of the connecting frame structure.

The pitch and roll adjustment frame includes a base plate and two side plates perpendicular to the base plate, the base plate is provided with an arc-shaped sliding groove corresponding to the mounting hole on the vertical plate of the connecting frame, and the side plate is also provided with an arc-shaped sliding groove . Further, the two side panels are symmetrical to each other. The bottom plate is used to fix the pitch and roll adjustment frame on the connecting frame, and the roll angle of the lidar can be changed by adjusting the arc-shaped sliding groove on the bottom plate and the position of the mounting hole on the vertical plate of the connecting frame. The arc-shaped sliding slot on the side plate is used to install the lidar connecting frame, and make the lidar connecting frame slide relative to the pitch and roll adjustment frame, so that the pitch angle of the laser radar can be adjusted within a certain range.

Further, the arc-shaped sliding grooves on the bottom plate of the pitch-roll adjusting frame are distributed on a circle with the same radius taking the center of the bottom plate of the pitch-roll adjusting frame as the center; the arc-shaped sliding grooves on the side plates of the pitch-roll adjusting frame They are distributed on a circle with the same radius taking the center position of the side plate of the pitch and roll adjustment frame as the center. In order to facilitate the opening of the arc-shaped sliding grooves, a central hole can be set at the center of the bottom plate and the side plate, and then the arc-shaped sliding grooves can be distributed on the same radius circle with the center hole as the center. The arc-shaped sliding grooves are distributed on the circle with the same radius centered on the center position to enhance the stability of the structure, and make the adjustment more convenient, uniform, and the angle is more controllable.

The laser radar connecting frame is provided with a laser radar mounting hole and a mounting hole corresponding to the arc-shaped sliding groove on the side plate of the pitch and roll adjustment frame. The lidar mounting holes are for the installation of the lidar, and the other mounting holes (corresponding to the arc-shaped sliding groove on the side plate of the pitch and roll adjustment frame) are for the installation of the lidar connecting frame, and make it possible to Slide on the arc-shaped sliding groove on the side plate of the roll adjustment frame, so that the pitch angle of the lidar can be adjusted within a certain range. The specific structure of the laser radar connecting frame can be set according to the structure of the laser radar itself, as long as it can realize the functions described in the utility model.

As a preference, the lidar connecting frame includes a base plate and two side plates perpendicular to the base plate, the side plates are provided with lidar mounting holes and correspond to the arc-shaped sliding grooves on the side plates of the pitch and roll adjustment frame the mounting holes. Further, the two side panels are symmetrical to each other. The lidar mounting holes are used to fix the lidar, and the other mounting holes correspond to the arc-shaped sliding grooves on the side panels of the pitch and roll adjustment frame, which can adjust the pitch angle of the lidar within a certain range.

In order to ensure connection reliability, reduce load-bearing, and improve the overall stability and safety of components, the materials of each component are optimized. The connecting frame is made of a 5mm thick aluminum plate; the pitch and roll adjustment frame and the laser radar connecting frame are made of a 4mm thick aluminum plate.

The laser radar installation mechanism of the utility model can adjust the pitch and roll angles of the laser radar according to specific usage requirements, either separately or simultaneously, and has strong flexibility.

The installation mechanism of the utility model that can adjust the roll and pitch angles of the laser radar will be further described below in conjunction with specific examples.

Example 1

This example takes the installation of a single-line laser radar as an example, which is installed at the front of the car body to achieve effective perception of the road environment ahead. The installation mechanism in this example is suitable for the general structure of automobiles, and it does not need to make major modifications to the car body, and it can be directly installed on the bumper beam at the front of the car body.

This example is a single-line laser radar installation mechanism, as shown in Figure 1 and Figure 5. Including connecting frame 1, pitch and roll adjusting frame 2 and lidar connecting frame 3:

The connecting frame 1 is shown in FIG. 2 . Including two mutually perpendicular plates, the horizontal plate 12 is provided with four mounting holes 121 (one of which is located at the center of the horizontal plate 12), and the vertical plate 11 is provided with five mounting holes 111 (one of which is located at the center of the vertical plate 11 ); the connecting frame 1 is installed on the front bumper beam of the car body through the mounting hole 121 on the horizontal plate 12, thereby realizing the installation and fixing of the connecting frame 1, the mounting mechanism and the single-line laser radar.

In this example, the connecting frame 1 is also provided with right-angled triangular support plates 13 perpendicular to the horizontal plate 12 and the vertical plate 11 respectively. The right-angled triangular support frame 13 is perpendicular to the horizontal plate 12 and the vertical plate 11 respectively, which can improve the stability of the connecting frame 1 structure.

In order to reduce the load and improve the overall stability of the components, a 5mm thick aluminum plate is used as the connecting frame 1.

The pitch and roll adjustment frame 2 is shown in FIG. 3 . It includes a base plate 21 and two side plates 22 that are symmetrical to each other and perpendicular to the base plate 21. The base plate 21 is provided with four arc-shaped sliding grooves 211 corresponding to the mounting holes 311 on the vertical plate 31 of the connecting frame 3. The side plates 21 Two arc-shaped sliding grooves 221 are arranged on the top; the pitch and roll adjustment frame 2 is installed on the mounting hole 111 of the vertical plate 11 of the connecting frame 1 through the arc-shaped sliding grooves 211 on the bottom plate 21 . The roll angle of the single-line lidar can be changed by adjusting the position of the arc-shaped sliding groove 211 on the bottom plate 21 and the mounting hole 111 on the vertical plate 11 of the connecting frame 1 . The arc-shaped sliding groove 221 on the side plate 22 is used to install the laser radar connecting frame 3, so that the laser radar connecting frame 3 slides relative to the pitch and roll adjustment frame 2, and the pitch angle of the single-line laser radar can be adjusted within a certain range.

A center hole is provided at the center of the bottom plate 21 , and four arc-shaped sliding grooves 211 are distributed on a circle with the same radius centered on the center hole of the bottom plate 21 . Specifically, they are respectively distributed on the left and right sides of the bottom plate 21 in a form of mutual symmetry and in a group of two. The center of the side plate 22 is provided with a central hole, and the two arc-shaped sliding grooves 221 are distributed on the same radius circle with the center hole of the side plate 22 as the center, specifically, distributed on the upper and lower sides of the side plate 22 in a symmetrical manner.

In order to reduce the load and improve the overall stability of the components, a 4mm thick aluminum plate is used as the pitch and roll adjustment frame 2.

The lidar connecting frame 3 is shown in FIG. 4 . It includes a bottom plate 31 and two side plates 32 that are symmetrical to each other and perpendicular to the bottom plate 31. The side plates are provided with five mounting holes (321, 322), and the two mounting holes 321 on the upper and lower parts correspond to the holes of the single-line laser radar 4 itself. , used to fix the single-line single-line laser radar 4; the three mounting holes 322 in the middle correspond to the arc-shaped sliding grooves 221 on the side plate 22 of the pitch and roll adjustment frame 2, and the laser radar connecting frame 1 is installed on the pitch through the three mounting holes 122 in the middle. On the arc-shaped sliding groove 221 on the side plate 22 of the roll adjustment frame 2, the pitch angle of the single-line laser radar can be adjusted within a certain range.

In order to reduce the load and improve the overall stability of the components, an aluminum plate with a thickness of 4mm is used as the lidar connecting frame 1.

When the lidar installation mechanism of this example is in use, it only needs to assemble the various parts according to the accompanying drawing 5, the horizontal plate 12 of the connecting frame 1 is installed on the crossbeam of the front bumper of the automobile, and the bottom plate 21 of the pitch and roll adjustment frame 2 is installed on the connecting frame 2. On the vertical plate 11 of the frame 1, the side plate 32 of the laser radar connection frame 3 is installed on the side plate 22 of the pitch and roll adjustment frame 2, and the single-line laser radar is installed on the side plate 32 of the laser radar connection frame 3. Then adjust the pitch, roll, and heading angles of the single-line lidar separately according to specific usage requirements.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (10)

1. A mounting mechanism capable of adjusting lidar roll and pitch angles, characterized in that the mounting mechanism includes a connecting frame, a pitching and rolling adjusting frame installed on the connecting frame and a pitching and rolling adjusting frame installed on the connecting frame LiDAR connection frame: The connecting frame includes two mutually perpendicular plates, and mounting holes are arranged on the horizontal plate and the vertical plate; The pitch and roll adjustment frame includes a base plate and two side plates perpendicular to the base plate. The base plate is provided with an arc-shaped sliding groove corresponding to the mounting hole on the vertical plate of the connecting frame, and the side plate is also provided with an arc-shaped sliding groove. groove; The laser radar connecting frame is provided with a laser radar mounting hole and a mounting hole corresponding to the arc-shaped sliding groove on the side plate of the pitch and roll adjustment frame. 2 . A mounting mechanism capable of adjusting the roll and pitch angles of the lidar according to claim 1 , wherein the connecting frame realizes the installation and fixing of the entire connecting frame through the mounting holes on the horizontal plate. 3. An installation mechanism capable of adjusting the roll and pitch angles of the lidar according to claim 1, wherein the connecting frame is further provided with a right-angled triangular support plate perpendicular to the vertical plate and the horizontal plate. 4. An installation mechanism capable of adjusting the roll and pitch angles of the lidar according to claim 1, wherein the two side plates of the pitch and roll adjustment frame are distributed on both sides of the bottom plate and are symmetrical to each other. 5. A mounting mechanism that can adjust the roll and pitch angles of the laser radar according to claim 1, wherein the arc-shaped sliding grooves on the bottom plate of the pitch and roll adjustment frame are distributed on the bottom plate of the pitch and roll adjustment frame The center position is on a circle with the same radius as the center of the circle; the arc-shaped slide grooves on the side plates of the pitch and roll adjustment frame are distributed on the same radius circle with the center of the side plate of the pitch and roll adjustment frame as the center of the circle. 6. A mounting mechanism that can adjust the roll and pitch angles of the lidar as claimed in claim 5, wherein there are four arc-shaped slide grooves on the bottom plate of the pitch and roll adjustment frame; There are two arc-shaped sliding grooves on the side plate of the adjustment frame, which are symmetrically distributed up and down. 7. A mounting mechanism capable of adjusting laser radar roll and pitch angles as claimed in claim 6, wherein the arc-shaped slide grooves on the vertical plate of the pitch and roll adjustment frame are in groups of two, Symmetrically distributed on both sides of the bottom plate. 8. A mounting mechanism that can adjust the roll and pitch angles of the laser radar according to claim 1, wherein the laser radar connecting frame includes a bottom plate and two side plates perpendicular to the bottom plate, and the side plates are arranged There are lidar mounting holes and mounting holes corresponding to the arc-shaped sliding groove on the side plate of the pitch and roll adjustment frame. 9. An installation mechanism capable of adjusting the roll and pitch angles of the lidar according to claim 8, wherein the two side plates of the lidar connecting frame are distributed on both sides of the bottom plate and are symmetrical to each other. 10. A mounting mechanism that can adjust the roll and pitch angles of the laser radar according to claim 8, wherein five mounting holes are provided on the laser radar connecting frame, and the upper and lower two are laser radar mounting holes , and the middle three are installation holes corresponding to the arc-shaped sliding grooves on the side panels of the pitch and roll adjustment frame.