CN205706503U - Vehicle and obstacle detector thereof - Google Patents
Vehicle and obstacle detector thereof Download PDFInfo
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- CN205706503U CN205706503U CN201620202382.0U CN201620202382U CN205706503U CN 205706503 U CN205706503 U CN 205706503U CN 201620202382 U CN201620202382 U CN 201620202382U CN 205706503 U CN205706503 U CN 205706503U
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- 230000007423 decrease Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 31
- 210000003205 muscle Anatomy 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 14
- 238000010276 construction Methods 0.000 abstract description 3
- 239000012491 analyte Substances 0.000 description 2
- 238000007665 sagging Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Abstract
A kind of vehicle and obstacle detector thereof, this obstacle detector is arranged on vehicle, including the first central detector axle and the second central detector axle, distance between obstacle detector is initial along the first central detector axle to road surface is L1, distance between obstacle detector is initial along the second central detector axle to road surface is L2, the difference of L2 > L1, L1 and L2 increases and decreases with the concavo-convex of road surface.The vehicle of the application and obstacle detector thereof, owing to having two central detector axles, according to obstacle detector along two central detector axles to the change of the range difference on road surface, can detect quickly and easily and whether step, pit, climb and fall road surface and/or other barrier, simple in construction, low cost occur on road surface.
Description
Technical field
The application relates to a kind of vehicle and obstacle detector thereof.
Background technology
Radar sensor is generally mounted on Herba Plantaginis or tailstock bumper, is used for detecting car body and barrier
Hinder the distance of thing.JP2005231468A discloses a kind of obstacle detector, in order to detect
Sagging step on the road surface of vehicle back.This obstacle detector have ultrasonic sensor,
Sensor support member and motor.Need to detect the sagging platform on the road surface of vehicle back or curb
During rank, motor drives sensor support member to stretch out rear bumper, ultrasonic sensor detection road
Face.But the structure of this existing obstacle detector is complicated.
Utility model content
One purpose of the application is to provide a kind of vehicle and obstacle detector thereof, and it is permissible
Barrier on detection road surface.
To this end, according to an aspect of the application, it is provided that a kind of obstacle detector, peace
It is contained on vehicle, including: the first central detector axle and the second central detector axle, from obstacle quality testing
Distance between survey device initiates along the first central detector axle to road surface is L1, from detection of obstacles
Device initial along the second central detector axle to road surface between distance be L2, L2 > L1, L1 with
The difference of L2 increases and decreases with the concavo-convex of road surface.
According to an embodiments possible, described obstacle detector include first sensor and
Second sensor, described first sensor and the second sensor are arranged side by side, with the way of contact also
Row is arranged, or is arranged side by side along the width of vehicle, or is arranged side by side with the not way of contact.
According to an embodiments possible, described first central detector axle is described first sensor
Central detector axle, described second central detector axle is the central detector axle of described second sensor.
According to an embodiments possible, the type of described first sensor and the second sensor can
With identical or different, it is respectively selected from ultrasonic sensor, laser sensor and infrared ray sensor
One in the group formed.
According to an embodiments possible, described obstacle detector includes a shell, in order to
House fixing described first sensor and the second sensor.
According to an embodiments possible, described obstacle detector includes sensor, described
Sensor has described first central detector axle and the second central detector axle.
According to further aspect of the application, additionally provide a kind of vehicle, including: control device,
Alarm device and foregoing obstacle detector, obstacle detector and control dress
Put electrical connection, control device and electrically connect with alarm device, control device and fill according to detection of obstacles
The detection signal put, starts or closes alarm device.
According to an embodiments possible, before described obstacle detector may be mounted at vehicle
Portion, rear portion and/or both sides.
According to an embodiments possible, it may include two or more described obstacle detectors,
It is arranged on vehicle rear bumper.
According to an embodiments possible, described alarm device, in order to send alarm signal, warns
Signal utilizes the audible mode such as visual way, buzzing, voice and/or the vibrations etc. such as lamp sudden strain of a muscle, word
Can one or more in way of feeling realize.
The vehicle of the application and obstacle detector thereof, owing to having two central detector axles,
According to obstacle detector along two central detector axles to the change of the range difference on road surface, can letter
On single road surface of detection rapidly, whether step, pit, climb and fall road surface and/or other obstacle occur
Thing, simple in construction, low cost.
Accompanying drawing explanation
Fig. 1 is vehicle and the detection of obstacles dress thereof of a kind of embodiments possible according to the application
The structural representation put.
Fig. 2 A and Fig. 2 B is the obstacle detector of the embodiments possible according to the application
Structural representation.
Fig. 3 A and Fig. 3 B is vehicle and the obstacle thereof of Fig. 1 illustrated embodiment according to the application
The detection schematic diagram of analyte detection device.
Fig. 4 is vehicle and the detection of obstacles thereof of the another kind of embodiments possible according to the application
The structural representation of device.
Fig. 5 is the structure square frame signal of the vehicle of a kind of embodiments possible according to the application
Figure.
Detailed description of the invention
When travelling on vehicle on road surface, road surface there will be step, pit or upper and lower unavoidably
Road surface, slope.According to the application obstacle detector in order to detect on road surface occur step,
Pit, climb and fall road surface and/or other barrier, including the first central detector axle and the second center
Detection axis.Distance between obstacle detector is initial along the first central detector axle to road surface
For L1, the distance between obstacle detector is initial along the second central detector axle to road surface is
L2, L2 > L1.The poor L of L2 with L1 changes along with the convex-concave on surface, road surface 2 and increases and decreases.When
When the poor L of L2 Yu L1 is in certain limit, it is judged that vehicle travels on the mildest road surface；
When the poor L of L1 Yu L2 is not at this scope, it is judged that vehicle travels to having barrier example
Such as the road surface of step, pit or climb and fall, can alert driver road surface may have barrier.
Refer to Fig. 1 and Fig. 2 A, according to the obstacle detector 10 of the application one embodiment
Including first sensor 11 and the second sensor 12, the two is arranged on vehicle 1 abreast, this
In embodiment, it is arranged on the rear bumper of vehicle 1, in order to detect when vehicle 1 is moveed backward
Step, pit, climb and fall road surface and/or other barrier occurred on road surface.Present embodiment
In, first sensor 11 and the second sensor 12 are the most side-by-side.Preferably,
One sensor 11 and the second sensor 12 along the width of vehicle 1 contiguously and come one
Rise, be conducive to improving accuracy of detection.Obstacle detector 10 includes a shell, in order to house
Fixing first sensor 11 and the second sensor 12.In other embodiments, certainty of measurement is worked as
Less demanding or during in order to meet the demand of installing space, first sensor 11 and the second sensing
Between device 12 in the vehicle width direction or can have certain distance in the short transverse of vehicle.
Such as, as shown in Figure 2 B, along vehicle width between first sensor 11 and the second sensor 12
There is on direction certain distance.
First sensor 11 and the second sensor 12 can be any sensings that can measure distance
Device, the two type can be identical, it is also possible to differs, can be such as ultrasonic sensor,
Laser sensor or infrared ray sensor.In present embodiment, first sensor 11 and second passes
Sensor 12 is the sensor of same type, is the most all ultrasonic sensor.
First sensor 11 has the first investigative range, and the first investigative range has the first center and visits
Surveying axle 111, this first central detector axle 111 is arranged to level reference (assuming that road surface 2 is
Level reference) angled α, the scope that detection range vehicle is nearer；Second sensor 12 has
Having the second investigative range, the second investigative range to have the second central detector axle 121, this is in second
Heart detection axis 121 is arranged to be at an angle of β, β with level reference, and < α, detection range is more than the
The detection range of one sensor 11.First investigative range and the second investigative range are along before vehicle 1
Rear is to partly overlapping or the most overlapping.Initial along the first center from first sensor 11
Distance between detection axis 111 to road surface is L1, initial along second from the second sensor 12
Distance between heart detection axis 121 to road surface is L2, L2 > L1.Poor L as L2 Yu L1
When being in certain limit, it is judged that vehicle 1 travels on the mildest road surface；When L1's Yu L2
L is when being not at this scope for difference, it is judged that vehicle 1 travels to having barrier such as step, recessed
Hole or the road surface of climb and fall, vehicle 1 can alert driver road surface may barrier.
Incorporated by reference to reference to Fig. 3 A and Fig. 3 B, vehicle 1 travels on road surface 2, from position X1
Via X2 in-position, position X3.Specifically, road surface 2, at the X2 of position, is formed downwards
Second 22 of step, pit or downward abrupt slope, i.e. road surface less than first 21.
When vehicle 1 travels between position X1 to position X2, first sensor 11 and
Two sensors 12 only detect first 21 of road surface 2, and the poor L of L1 with L2 is roughly the same,
Or change in smaller range, when vehicle 1 travels longer than position X2, the second sensor
12 can detect and first 21 form difference in height second 22, and first 21 and second
There is notable difference in height in portion 22, and the poor L of L1 with L2 can significantly raise.L1's Yu L2
L is the biggest for difference, shows to form downward step, pit or downward slope the most dangerous.
In like manner, if at the X2 of position, second 22 of road surface 2 is higher than first 21,
Form step, barrier or abrupt slope upwards upwards, then travel longer than position X2 when vehicle 1
Time, the poor L of L1 Yu L2 can significantly reduce or even become negative value.The difference of L1 Yu L2
L changes the most greatly, shows that the step, barrier or the slope upwards that are formed upwards are the most dangerous.
It is appreciated that and can include according to the obstacle detector 10 of presently filed embodiment
3rd sensor (not shown), has the 3rd detection central shaft, its investigative range and the first detection
Scope, the second investigative range can partly overlap or the most overlapping, in order to detect from vehicle 1
Scope farther out, this investigative range is more than the second sensor 12, in order to carry with the distance of vehicle 1
The detectivity of high obstacle analyte detection device 10 and precision.Initial along the 3rd from the 3rd sensor
Central detector axle is L3 to the distance between road surface, by the difference of L3 Yu L2 and/or L3 with
The change of the difference of L1, assists the barrier on detection road surface.
Refer to Fig. 4, use according to the obstacle detector 10 ' of another embodiment of the application
With the step, pit, climb and fall road surface and/or other barrier that occur on detection road surface 2, this
The obstacle detector 10 ' of embodiment is with the difference of previous embodiment, this
The obstacle detector 10 ' of embodiment can include a sensor 11 ', this sensor
11 ' have two central detector axles: the first central detector axle 111 ' and the second central detector axle
121’.Between sensor 11 ' is initial along the first central detector axle 111 ' to road surface 2 away from
From for L1, between sensor 11 ' is initial along the second central detector axle 121 ' to road surface 2
Distance is L2.Operation principle is similar with previous embodiment, according to the poor L's of L1 Yu L2
Whether occur significantly changing, detect whether occur on road surface 2 step, pit, climb and fall
Road surface and/or other barrier.
It is appreciated that the obstacle detector 10 ' of this embodiment according to the application also may be used
To include the second sensor, this second sensor can have two central detector axles, detects model
Enclose and can partly overlap or the most overlapping with sensor 11 ', detection range vehicle model farther out
Enclosing, this investigative range is more than sensor 11 ' with the distance of vehicle, in order to improve detection of obstacles dress
The detectivity put and precision.The operation principle of the second sensor is similar to aforesaid have two
The sensor 11 ' of individual central detector axle, is not repeated herein.
First sensor the 11,11 ' and/or second sensor 12 can have the one of radar for backing car concurrently
As function.
Refer to Fig. 5, the application vehicle includes obstacle detector 10 (10 '), controls dress
Putting 50 and alarm device 60, obstacle detector 10 (10 ') is electrically connected with controlling device 50
Connect, control device 50 and electrically connect with alarm device 60.Obstacle detector 10 (10 ')
Detected signal transmission and extremely controlled device 50, controlled device 50 according to obstacle detector
The detection signal of 10 (10 '), starts or closes alarm device 60.Alarm device 60 is in order to send out
Going out alarm signal, alarm signal is e.g. with visual way, buzzing, voices such as lamp sudden strain of a muscle, words
Can illustrate by way of feeling etc. audible mode and/or vibrations etc..Preferably, this alarm device 60 is
The alarm device of existing radar for backing car.
This obstacle detector 10,10 ' may be mounted on the bumper at vehicle 1 rear portion,
Can also be arranged on the miscellaneous part at vehicle 1 rear portion.This obstacle detector 10,10 '
Can be one, be arranged on the medium position at vehicle 1 rear portion, detection range covers vehicle 1
Whole rear；Can also be two, be arranged on the both sides at vehicle 1 rear portion, detection range be respectively
Cover the left and right sides of rear view of vehicle；Can also be multiple, interval be arranged on vehicle 1 rear portion,
Detection range is covered each by the region corresponding to its installation site, vehicle 1 rear.According to actual need
Asking, the front portion that this obstacle detector 10,10 ' can also be arranged on vehicle 1 is such as insured
On thick stick or the sidepiece of vehicle 1, in order to detect the obstacle on the road surface in vehicle 1 front or side
Thing.
The vehicle of the application and obstacle detector thereof, owing to having two central detector axles,
According to obstacle detector along two central detector axles to the change of the range difference on road surface, can letter
On single road surface of detection rapidly, whether step, pit, climb and fall road surface and/or other obstacle occur
Thing, simple in construction, low cost.
Although disclosed some embodiments, these embodiments are given the most in an illustrative manner
Go out, and be not meant to limit scope of the present utility model.Appended claim and equivalent thereof
The all modifications made in being intended to this utility model scope and spirit, substitute and change.
Claims (10)
1. an obstacle detector (10,10 '), it is arranged on vehicle, it is characterized in that: including: the first central detector axle (111,111 ') and the second central detector axle (121,121 '), initial along the first central detector axle (111 from obstacle detector, 111 ') to the distance between road surface (2) be L1, initial along the second central detector axle (121 from obstacle detector, 121 ') to the distance between road surface (2) be L2, L2 > difference of L1, L1 and L2 increases and decreases with the concavo-convex of road surface (2) surface.
2. obstacle detector (10 as claimed in claim 1,10 '), it is characterized in that: described obstacle detector includes first sensor (11) and the second sensor (12), described first sensor (11) and the second sensor (12) are arranged side by side with the way of contact, or are arranged side by side with the not way of contact.
3. obstacle detector (10 as claimed in claim 2,10 '), it is characterized in that: described first central detector axle (111) is the central detector axle of described first sensor (11), described second central detector axle (121) is the central detector axle of described second sensor (12).
4. obstacle detector (10 as claimed in claim 2,10 '), it is characterized in that: the type of described first sensor (11) and the second sensor (12) can be identical or different, is respectively selected from the one in the group that ultrasonic sensor, laser sensor and infrared ray sensor are formed.
5. the obstacle detector (10 as described in claim 2 to 4 is arbitrary, 10 '), it is characterized in that: described obstacle detector includes a shell, in order to house fixing described first sensor (11) and the second sensor (12).
6. obstacle detector (10 as claimed in claim 1,10 '), it is characterized in that: described obstacle detector includes that sensor (11 '), described sensor (11 ') have described first central detector axle (111 ') and the second central detector axle (121 ').
7. a vehicle (1), it is characterised in that: including:
Control device (50), alarm device (60) and the obstacle detector as according to any one of claim 1 to 6 (10,10 '), obstacle detector (10,10 ') electrically connect with control device (50), control device (50) to electrically connect with alarm device (60), control device (50) according to obstacle detector (10,10 ') detection signal, starts or closes alarm device (60).
8. vehicle (1) as claimed in claim 7, it is characterised in that: described obstacle detector (10,10 ') may be mounted at front part of vehicle, rear portion and/or both sides.
9. vehicle (1) as claimed in claim 7, it is characterised in that: two or more described obstacle detector (10,10 ') can be included, be arranged on vehicle rear bumper.
10. vehicle (1) as claimed in claim 7, it is characterized in that: described alarm device (60) is in order to send alarm signal, and alarm signal utilizes the audible mode such as visual way, buzzing, voice and/or the vibrations etc. such as lamp sudden strain of a muscle, word one or more in way of feeling to realize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620202382.0U CN205706503U (en) | 2016-03-16 | 2016-03-16 | Vehicle and obstacle detector thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620202382.0U CN205706503U (en) | 2016-03-16 | 2016-03-16 | Vehicle and obstacle detector thereof |
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| Publication Number | Publication Date |
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| CN205706503U true CN205706503U (en) | 2016-11-23 |
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| CN201620202382.0U Active CN205706503U (en) | 2016-03-16 | 2016-03-16 | Vehicle and obstacle detector thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767852A (en) * | 2016-12-30 | 2017-05-31 | 东软集团股份有限公司 | A kind of method for generating detection target information, device and equipment |
| CN109581390A (en) * | 2018-11-27 | 2019-04-05 | 北京纵目安驰智能科技有限公司 | Terrain detection method, system, terminal and storage medium based on ultrasonic radar |
| CN110266891A (en) * | 2019-06-28 | 2019-09-20 | 无锡睿勤科技有限公司 | Information cuing method, device, terminal and storage medium |
| CN111096112A (en) * | 2018-10-26 | 2020-05-05 | 井关农机株式会社 | Working vehicle |
| CN112684797A (en) * | 2020-12-15 | 2021-04-20 | 广东工业大学 | Obstacle map construction method |
-
2016
- 2016-03-16 CN CN201620202382.0U patent/CN205706503U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767852A (en) * | 2016-12-30 | 2017-05-31 | 东软集团股份有限公司 | A kind of method for generating detection target information, device and equipment |
| CN106767852B (en) * | 2016-12-30 | 2019-10-11 | 东软集团股份有限公司 | A kind of method, apparatus and equipment generating detection target information |
| CN111096112A (en) * | 2018-10-26 | 2020-05-05 | 井关农机株式会社 | Working vehicle |
| CN109581390A (en) * | 2018-11-27 | 2019-04-05 | 北京纵目安驰智能科技有限公司 | Terrain detection method, system, terminal and storage medium based on ultrasonic radar |
| CN110266891A (en) * | 2019-06-28 | 2019-09-20 | 无锡睿勤科技有限公司 | Information cuing method, device, terminal and storage medium |
| CN112684797A (en) * | 2020-12-15 | 2021-04-20 | 广东工业大学 | Obstacle map construction method |
| CN112684797B (en) * | 2020-12-15 | 2023-06-16 | 广东工业大学 | Obstacle map construction method |
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