Air spring, vibration isolation device, sensor assembly, vibration isolation control method, and vehicle

Abstract

The application relates to the field of vibration control, in particular to a vibration control technology in the field of new energy vehicles and intelligent vehicles, and discloses an air spring, a vibration isolation device, a sensor assembly, a vibration isolation control method and a vehicle. The air spring (21a, 22a, 23a, 24a) comprises an air passage and at least two air chambers; wherein the at least two air chambers comprise a first air chamber and a second air chamber; the first air chamber and the second air chamber are distributed along the air passage; the first air chamber is connected with the air passage through a first control valve, and the second air chamber is connected with the air passage through a second control valve. Based on the air spring in the embodiment of the application, in the case that a target object such as a sensor is subjected to vibration, the air spring can slow down the vibration of the target object such as the sensor on the side, thereby reducing the mechanical fatigue of the sensor, reducing the risk of fracture and the performance degradation speed of the sensor assembly, prolonging the service life of the sensor, reducing the replacement frequency, reducing the replacement cost, and reducing the influence of vibration on the measurement accuracy of the sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vibration control, in particular to an air spring, a vibration isolation device, a sensor assembly, a vibration isolation control method and a vehicle. BACKGROUND

[0002] Currently, sensors are generally arranged on an autonomous vehicle to sense the surrounding environment during unmanned driving. In this way, the vehicle can automatically adjust its driving state based on the sensor data obtained by the sensors. The sensors can be lidar, etc.

[0003] For large unmanned engineering operation vehicles, they often travel on unstructured roads such as off-road, cement roads, and mine roads. Due to the unevenness of the unstructured road surface, the vehicle will vibrate due to the uneven road surface, and even vibrate violently. At present, most sensors are directly connected to the vehicle body or externally supported suspension beams of the large unmanned engineering operation vehicle, so the sensors on the vehicle will also vibrate with the vibration of the vehicle. Thus, under the mechanical vibration for a long time, problems such as mechanical fatigue, structural fracture, and performance degradation of the sensor will be caused, which will shorten the service life of the sensor and reduce the measurement accuracy of the sensor.

[0004] For example, the driving environment of an unmanned mine truck (such as a wide-body dump truck) on a mine is harsh. The wide-body dump truck vibrates under the action of external forces. The sensors on the wide-body dump truck are directly connected to the body steel plate of the wide-body dump truck. The suspension system of the wide-body dump truck is a steel plate spring, and the shock absorption performance is poor. The mechanical elements, micro-electro-mechanical system (MEMS) elements, etc. built-in the sensors, especially the laser radar and millimeter wave radar, are easily affected by vibration. The sensors on the wide-body dump truck will also vibrate with the vibration of the wide-body dump truck. The detection accuracy of the sensors, especially the laser radar, will be affected by the vibration. Long-term effects will cause problems such as mechanical fatigue, structural fracture, and performance degradation of the sensors, resulting in reduced service life of the sensors and increased replacement cost of the sensors. SUMMARY

[0005] The embodiments of the present application provide an air spring, a vibration isolation device, a sensor assembly, a vibration isolation control method and a vehicle.

[0006] In a first aspect, the embodiments of the present application provide an air spring, comprising an air passage and at least two air chambers; wherein the at least two air chambers comprise a first air chamber and a second air chamber; the first air chamber and the second air chamber are spaced apart along the air passage; the first air chamber is connected to the air passage through a first control valve, and the second air chamber is connected to the air passage through a second control valve.

[0007] The air spring can refer to the third air spring in the specific embodiment, for example, the third air spring 23a and the third air spring 24a.

[0008] In the air spring in the embodiment of the present application, in the case that the target object such as the sensor is subjected to vibration, the air spring can slow down the vibration of the target object such as the sensor, thereby reducing the mechanical fatigue of the sensor, reducing the risk of fracture of the sensor assembly and the performance degradation speed, improving the service life of the sensor, reducing the replacement frequency, reducing the replacement cost, and reducing the influence of vibration on the measurement accuracy of the sensor.

[0009] In a possible implementation of the first aspect, the at least two air chambers further include a third air chamber and a fourth air chamber; the first air chamber, the second air chamber, the third air chamber, and the fourth air chamber are uniformly distributed along the air passage; the third air chamber is connected to the air passage through a third control valve, and the fourth air chamber is connected to the air passage through a fourth control valve.

[0010] In the embodiment of the present application, the first air chamber, the second air chamber, the third air chamber, and the fourth air chamber are uniformly distributed along the air passage, which facilitates the decomposition and calculation of physical quantities in the vibration control process, can effectively improve the precision of vibration control, and can also improve the calibration efficiency of the vibration isolation device or the air spring.

[0011] In a possible implementation of the first aspect, the air passage is annular, and the first air chamber, the second air chamber, and the third air chamber are uniformly distributed along the circumferential direction of the air passage.

[0012] In a possible implementation of the first aspect, the air passage is further provided with an air inlet valve and an air outlet valve, and the air inlet valve and the air outlet valve are arranged on the same side of the circumferential diameter of the air passage.

[0013] The air inlet valve and the air outlet valve are arranged on the same side of the circumferential diameter of the air passage, which is conducive to reducing the size of the device and facilitating the simplification and installation of the air inlet and outlet pipelines.

[0014] For example, the air inlet valve 232a and the air outlet valve 233a are arranged on the same side of the diameter of the third air spring 23a. In this way, the connection distances of the air inlet valve 232a and the air outlet valve 233a to the air supply device can be shortened to a certain extent, the size of the vibration isolation device is reduced, and the installation is facilitated.

[0015] In a possible implementation of the first aspect, each of the at least two air chambers is provided with an air pressure sensor.

[0016] The air pressure sensor is used to measure the air pressure of each air chamber.

[0017] In a possible implementation of the first aspect, a groove portion is arranged on the perpendicular bisector between two adjacent air chambers of the at least two air chambers.

[0018] The wire harness of the sensor can be arranged in the groove. The arrangement on the perpendicular bisector is beneficial to simplify calibration parameters, improve calibration efficiency, simplify vibration control calculation parameters, and improve vibration control accuracy.

[0019] In a second aspect, the embodiments of the present application provide a vibration isolation device, which comprises a first air spring and a second air spring; the first air spring comprises a first air channel, a first air chamber and a second air chamber, wherein the first air chamber and the second air chamber are spaced apart along the first air channel; the first air chamber is connected with the first air channel through a first control valve, and the second air chamber is connected with the first air channel through a second control valve; the second air spring is used to attenuate a vibration component perpendicular to a plane in which the first air spring is located.

[0020] The first air spring can refer to the third air spring in the specific embodiments, for example, the third air spring 24a.

[0021] The second air spring can refer to the first air spring and the second air spring in the specific embodiments, for example, the first air spring 21a and the second air spring 22a.

[0022] In a possible implementation of the first aspect, the first air spring further comprises a third air chamber and a fourth air chamber.

[0023] The third air chamber is connected with the first air channel through a third control valve, and the fourth air chamber is connected with the first air channel through a fourth control valve; the first air channel is annular, and the first air chamber, the second air chamber, the third air chamber and the fourth air chamber are uniformly distributed along the circumferential direction of the first air channel; the first air chamber, the second air chamber, the third air chamber and the fourth air chamber are each provided with an air pressure sensor.

[0024] In a possible implementation of the first aspect, the first air channel is further provided with a first air inlet valve and a first air outlet valve, wherein the first air inlet valve and the first air outlet valve are arranged on the same side of the circumferential diameter of the first air channel.

[0025] In a possible implementation of the first aspect, the first air spring and the second air spring are integrally formed; or the first air spring and the second air spring are fixedly connected.

[0026] The fixed connection can be detachable fixed connection and non-detachable fixed connection, and the detachable fixed connection can be bolt connection, and the non-detachable fixed connection can be adhesive connection, but is not limited thereto.

[0027] The integrally formed structure can improve the reliability of the connection, reduce the volume and cost of the connection part. The detachable fixed connection can flexibly replace the types of the first air spring, the second air spring and the third air spring, and has stronger adaptability. The non-detachable fixed connection determines the types of the first air spring, the second air spring and the third air spring in the manufacturing stage of the vibration isolation device before leaving the factory.

[0028] In a possible implementation of the first aspect, the device further includes a third air spring, a fourth air spring and a bracket; the second spring, the first spring, the third spring and the fourth spring are arranged in sequence; the second air spring is fixedly connected with the bracket, and the fourth air spring is fixedly connected with the bracket; the third air spring includes a second air channel, a fifth air chamber, a sixth air chamber, a seventh air chamber and an eighth air chamber, wherein the second air channel is annular, and the second air channel is further provided with a second air inlet valve and a second air outlet valve, and the second air inlet valve and the second air outlet valve are arranged on the same side of the circumferential diameter of the second air channel; the fifth air chamber, the sixth air chamber, the seventh air chamber and the eighth air chamber are uniformly distributed along the circumferential direction of the second air channel, and the fifth air chamber, the sixth air chamber, the seventh air chamber and the eighth air chamber are each provided with an air pressure sensor; the fourth air spring is used to attenuate a vibration component perpendicular to the plane where the third air spring is located; and the third air spring and the fourth air spring are fixedly connected.

[0029] In some implementations, the bracket can include a structure composed of an iron stand and a support cantilever, but is not limited thereto.

[0030] The third air spring can refer to the third air spring in the specific embodiment, for example, the third air spring 24a.

[0031] The fourth air spring can refer to the first air spring and the second air spring in the specific embodiment, for example, the first air spring 21a and the second air spring 22a.

[0032] In a possible implementation of the first aspect, the bracket is used to fixedly connect the vibration isolation device with the vehicle.

[0033] In a possible implementation of the first aspect, the second air spring and the fourth air spring are both single-curved air springs.

[0034] In a third aspect, the embodiments of the present application provide a sensor assembly, including a vibration isolation device and a sensor.

[0035] The vibration isolation device comprises a first air spring and a second air spring, the first air spring is sleeved on the side of the sensor, and the second air spring is arranged at the first end of the sensor; the second air spring is used for attenuating a vibration component perpendicular to the plane where the first air spring is located; the first air spring comprises a first air channel, a first air chamber, a second air chamber, a third air chamber and a fourth air chamber; wherein the first air chamber, the second air chamber, the third air chamber and the fourth air chamber are uniformly distributed along the air channel; the first air chamber is connected with the first air channel through a first control valve, the second air chamber is connected with the first air channel through a second control valve, the third air chamber is connected with the air channel through a third control valve, and the fourth air chamber is connected with the air channel through a fourth control valve.

[0036] The first air spring can refer to the third air spring in the specific embodiment, for example, the third air spring 24a.

[0037] The second air spring can refer to the first air spring and the second air spring in the specific embodiment, for example, the first air spring 21a and the second air spring 22a.

[0038] In a possible implementation of the first aspect, the vibration isolation device further comprises a third air spring and a fourth air spring; the second spring, the first spring, the third spring and the fourth spring are arranged in sequence; the third air spring is sleeved on the side of the sensor, and the fourth air spring is arranged at the second end of the sensor; the third air spring comprises a second air channel, a fifth air chamber, a sixth air chamber, a seventh air chamber and an eighth air chamber; the second air channel is annular, and the second air channel is further provided with a second air inlet valve and a second air outlet valve; the second air inlet valve and the second air outlet valve are arranged on the same side of the circumferential diameter of the second air channel; the fifth air chamber, the sixth air chamber, the seventh air chamber and the eighth air chamber are uniformly distributed along the circumferential direction of the second air channel; the fifth air chamber, the sixth air chamber, the seventh air chamber and the eighth air chamber are each provided with an air pressure sensor; the fourth air spring is used for attenuating a vibration component perpendicular to the plane where the third air spring is located; and the third air spring and the fourth air spring are fixedly connected.

[0039] The third air spring can refer to the third air spring in the specific embodiment, for example, the third air spring 24a. The fourth air spring can refer to the first air spring and the second air spring in the specific embodiment, for example, the first air spring 21a and the second air spring 22a.

[0040] In a fourth aspect, the embodiments of the present application provide a vibration isolation control method, the method being applied to a vibration isolation control system, the vibration isolation control system comprising an electronic control unit and an air spring, the air spring comprising an air channel and at least two air chambers; wherein the at least two air chambers comprise a first air chamber and a second air chamber; the first air chamber and the second air chamber are spaced apart along the air channel; the first air chamber is connected with the air channel through a first control valve, and the second air chamber is connected with the air channel through a second control valve.

[0041] The method comprises:

[0042] The electronic control unit acquires the acceleration from the sensor;

[0043] The electronic control unit determines the desired stiffness and damping of the air chamber based on the components of the acceleration decomposed into preset directions.

[0044] The desired opening degree of each solenoid valve is determined based on the desired stiffness and damping.

[0045] According to the desired opening degree, send the corresponding solenoid valve opening adjustment command to each solenoid valve.

[0046] Fifthly, embodiments of this application provide a vehicle equipped with an air spring, which is any of the various possible implementations of the first aspect.

[0047] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on an electronic device, cause the electronic device to perform the vibration isolation control method in various possible implementations of the fourth aspect. Attached Figure Description

[0048] Figure 1 An exploded view of a sensor assembly is shown according to some embodiments of this application;

[0049] Figure 2A According to some embodiments of this application, a method is shown. Figure 1 A front view of the sensor assembly in its assembled state;

[0050] Figure 2B According to some embodiments of this application, a method is shown. Figure 1 The left view of the sensor assembly in its assembled state shown;

[0051] Figure 2C According to some embodiments of this application, a method is shown. Figure 1 A top view of the sensor assembly in its assembled state;

[0052] Figure 3A for Figure 1 Top view of the third air spring 23a;

[0053] Figure 3B According to some embodiments of this application, a third air spring 23a is shown along... Figure 1 Cross-sectional view along the AA direction;

[0054] Figure 3C for Figure 1 Top view of the third air spring 24a;

[0055] Figure 3D for Figure 3C A schematic diagram of a vibration reduction principle for the third air spring 24a in the middle section;

[0056] Figure 4 A schematic diagram of a vibration isolation system is shown according to some embodiments of this application;

[0057] Figure 5 According to some embodiments of this application, corresponding to vibration isolation device 20a and Figure 4 A schematic flowchart of a vibration isolation control method for a vibration isolation device 20a is shown.

[0058] Figure 6 A schematic diagram is shown of how an electronic control unit 30 decomposes the acceleration of sensor 10a into components along the x-axis, y-axis, and z-axis.

[0059] Figure 7 According to some embodiments of this application, a schematic diagram of the principle of converting the acceleration in the x-axis direction and the acceleration in the y-axis direction to the acceleration component in the direction of the center of the air chamber in the xy plane where the third air spring 23a is located is shown.

[0060] Figure 8 According to some embodiments of this application, a schematic diagram of the principle of adjusting the air pressure in the air chamber based on the control valve opening adjustment command is shown.

[0061] Figure 9 According to some embodiments of this application, a top view of an unmanned mining truck is shown;

[0062] Figure 10 According to some embodiments of this application, a schematic diagram of the connection structure of a lidar 10d, a vibration isolation device 20a, and an unmanned mining vehicle 1 is shown.

[0063] Explanation of reference numerals in the attached figures:

[0064] 20a - Vibration isolation device; 21a - First air spring; 22a - Second air spring; 23a - Third air spring; 24a - Third air spring; 211a - Positioning hole; 212a - Positioning hole; 213a - Inlet valve; 232a - Inlet valve; 102a - Top protective cover; 103a - LiDAR working area; 104a - Wiring harness plug; 105a - Bottom protective cover; 241a - Connecting part; 242a - Recessed part; 233a - Outlet valve; 221a - Positioning hole; 222a - Positioning hole; 223a - Inlet valve; 2 34a-Third air chamber; 235a-Third air chamber; 236a-Third air chamber; 237a-Third air chamber; 238a-Air passage; 202a-Control valve; 245a-Third air chamber; 246a-Third air chamber; 247a-Third air chamber; 248a-Third air chamber; 30-Electronic control unit; 201a-Pressure sensor; 40-Air supply device; 10a-Sensor; 101a-Inertial measurement unit; 231a-Connecting part; 214a-Outlet valve; 1-Unmanned mining car; 50-Car head; 70-Iron frame; 60-Supporting suspension beam. Detailed Implementation

[0065] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0066] While the description of this application is presented in conjunction with some embodiments, this does not mean that the features of this application are limited to this embodiment. On the contrary, the purpose of describing the application in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of this application. To provide a thorough understanding of this application, many specific details will be included in the following description. This application may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this application, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0067] It should be noted that in the description of the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. In this specification, similar reference numerals and letters in the following drawings indicate similar items. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] To address the technical problems in the background art, embodiments of this application provide a vibration isolation device, which includes a first vibration isolation device and a second vibration isolation device. The first vibration isolation device is disposed in a first direction of the target object and is used to reduce the vibration component of the target object in the first direction. The second vibration isolation device is disposed in a second direction of the target object and is used to reduce the vibration component of the target object in the second direction.

[0069] Based on the above-mentioned vibration isolation device, when the target object is subjected to vibration, the vibration isolation device can simultaneously reduce the vibration of the target object in the first direction and the vibration in the second direction, reduce the mechanical fatigue of the target object, reduce the risk of structural fracture and the speed of performance degradation, and improve the service life of the target object.

[0070] In some embodiments, the first vibration isolation device may include a first air spring and a second air spring, the first air spring being disposed at the top and bottom of the target object, and the first air spring being used to dampen the vibration component of the target object in the top-to-bottom direction. The second vibration isolation device may include at least one third air spring, the at least one third air spring being disposed around the side of the target object, and the at least one third air spring being used to dampen the lateral vibration component of the target object.

[0071] The first air spring and the adjacent third air spring can be a single molded structure; alternatively, the first air spring and the adjacent third air spring can be fixedly connected. The fixed connection can be by bolts or adhesive, but is not limited to these methods.

[0072] Similarly, the second air spring and the adjacent third air spring can be a single integral structure; or, the second air spring and the adjacent third air spring can be fixedly connected. The fixed connection can be a detachable fixed connection or a non-detachable fixed connection. The detachable fixed connection can be a bolt connection, and the non-detachable fixed connection can be an adhesive connection, but is not limited to these.

[0073] A one-piece molded structure improves connection reliability and reduces the size and cost of the connection parts. A detachable fixed connection allows for flexible replacement of the types of the first, second, and third air springs, offering greater adaptability. With a non-detachable fixed connection, the types of the first, second, and third air springs are determined during the manufacturing stage before the vibration isolation device leaves the factory.

[0074] Based on the vibration isolation device described above, when the sensor is subjected to vibration, the vibration isolation device can reduce the vibration in the top-to-bottom direction and the lateral vibration of the sensor, thereby reducing the mechanical fatigue of the sensor, reducing the risk of sensor assembly breakage and the speed of performance degradation, increasing the service life of the sensor, reducing the number of replacements, reducing replacement costs, and reducing the impact of vibration on the sensor's measurement accuracy.

[0075] In some embodiments, the target object may be a sensor, such as a lidar. The first vibration isolation device may include a first air spring and a second air spring; the first air spring is disposed on the top of the sensor, and the second air spring is disposed on the bottom of the sensor. The second vibration isolation device may include at least one third air spring, which is disposed around the side of the sensor.

[0076] In some embodiments, the first air spring may be a single-curved air spring, a hyperbolic air spring, etc., but is not limited thereto; the second air spring may be a single-curved air spring, a hyperbolic air spring, etc., but is not limited thereto; and the third air spring is a ring-shaped air spring. Each ring-shaped air spring is respectively sleeved on the side of the sensor.

[0077] In some other embodiments, the vibration isolation device may also be a plurality of air springs arranged around the side of the sensor.

[0078] An air spring is a spring that utilizes the elasticity of air by filling a retractable, sealed container with compressed air. It is commonly known as an airbag.

[0079] The following is an exemplary description of a sensor assembly including the one provided in the embodiments of this application. Figure 1 An exploded view of a sensor assembly is shown according to some embodiments of this application. Figure 1As shown, the sensor assembly includes a sensor 10a and a vibration isolation device 20a. The sensor 10a can be a lidar. The lidar type can be millimeter-wave lidar, solid-state lidar, etc.

[0080] The vibration isolation device 20a includes a first vibration isolation device and a second vibration isolation device; the first vibration isolation device includes a first air spring 21a and a second air spring 22a. The second vibration isolation device includes a third air spring 23a and a third air spring 24a.

[0081] The first air spring 21a is disposed at the top of the sensor 10a, and the second air spring 22a is disposed at the bottom of the sensor 10a. The third air spring 23a and the third air spring 24a are disposed around the sides of the sensor 10a.

[0082] The bottom of the first air spring 21a is fixedly connected to the top of the sensor 10a; the top of the second air spring 22a is fixedly connected to the bottom of the sensor 10a; the top of the third air spring 23a is fixedly connected to the bottom of the first air spring 21a; and the bottom of the third air spring 24a is fixedly connected to the top of the second air spring 22a.

[0083] The top of the first air spring 21a is provided with a plurality of positioning holes 211a, which are used to fix the first air spring 21a to the external fixed structure. The top of the first air spring 21a is provided with a plurality of positioning holes 221a, which are used to fix the second air spring 22a to the external fixed structure.

[0084] The third air spring 23a and the third air spring 24a can be square or ring-shaped.

[0085] The following example illustrates one Figure 1 A schematic diagram of the sensor assembly. For example, Figure 2A According to some embodiments of this application, a method is shown. Figure 1 The image shows a front view of the sensor assembly in its assembled state. The assembly structure of sensor 10a mounted in vibration isolation device 20a can be as follows: Figure 2A As shown.

[0086] In some embodiments, a connecting portion 231a is provided on the top of the third air spring 23a near the first air spring 21a, and a connecting portion is provided on the bottom of the first air spring 21a near the third air spring 23a. The connecting portion 231a of the third air spring 23a is fixedly connected to the connecting portion of the first air spring 21a.

[0087] In some embodiments, a connecting portion 241a is provided on the top of the third air spring 24a near the second air spring 22a, and a connecting portion is provided on the bottom of the second air spring 22a near the third air spring 24a. The connecting portion 241a of the third air spring 24a is fixedly connected to the connecting portion of the second air spring 22a.

[0088] In some embodiments, the connecting part can be a threaded hole, and the two connecting parts are fixedly connected by bolts. In other embodiments, the two connecting parts can be fixedly connected by adhesive or integral molding.

[0089] In some embodiments, the first air spring 21a and the second air spring 22a can be single-curved air springs; the third air spring 23a and the third air spring 24a can be ring-shaped air springs. It is understood that the single-curved air spring is merely exemplary, and other structures with the same function can be used instead, without limitation. Similarly, the ring-shaped air spring is merely exemplary, and other structures with the same function can be used instead, without limitation.

[0090] In some embodiments, the annular air spring can be disposed in the non-sensor area of ​​the sensor 10a because the sensor area of ​​the sensor 10a is used to transmit and receive signals, and if it is blocked, the detection accuracy of the sensor 10a will be affected. If the side of the sensor 10a includes a sensing area and two non-sensor areas, and a sensing area is disposed between one non-sensor area and the other non-sensor area, then the two annular air springs are respectively disposed in one non-sensor area and the other non-sensor area.

[0091] For example, taking a lidar sensor 10a as an example, the sensor 10a includes a top protective cover 102a, a lidar working area 103a, a bottom protective cover 105a, and a wiring harness connector 104a. The wiring harness connector 104a is disposed on the bottom protective cover 105a. The lidar working area 103a is located between the top protective cover 102a and the bottom protective cover 105a. The lidar working area 103a is the optical path propagation area for emitting and receiving laser light, acquiring sensing data. A third air spring 24a has a groove 242a, which is disposed on the vertical bisector between two adjacent air chambers in at least two air chambers. The wiring harness connector 104a can pass through this groove 242a.

[0092] Since the lidar working area 103a is the optical path propagation area for emitting and receiving laser light, if other structures are installed on the lidar working area 103a, it will affect the accuracy of the sensing data. Therefore, in some embodiments, the third air springs 23a and 24a are fitted onto the outer surface of the sensor 10a, excluding the lidar working area 103a, leaving space for optical path propagation. For example, the first air spring 21a is fitted onto the outer circumferential wall of the top protective cover 102a of the sensor 10a. The second air spring 22a and the third air spring 23a are fitted onto the outer circumferential wall of the bottom protective cover 105a of the sensor 10a.

[0093] Sensor 10a can be used for lidar or any other type of sensor.

[0094] In this embodiment, the first air spring 21a, the second air spring 22a, the third air spring 23a, and the third air spring 24a can partially cover and fix the sensor 10a without obstructing the optical propagation path of the sensor 10a. Thus, the vibration isolation device provided in this embodiment can isolate the sensor 10a from vibration without interfering with its measurement during the isolation process. This reduces mechanical fatigue of the sensor 10a, lowers the risk of structural breakage and performance degradation, and improves its service life, while also reducing the impact of vibration on the measurement accuracy of the sensor 10a.

[0095] The structures of the first air spring 21a, the second air spring 22a, the third air spring 23a, and the third air spring 24a, as well as the connection and positional relationship between the first air spring 21a, the second air spring 22a, the third air spring 23a, and the third air spring 24a and the sensor 10a, can be changed according to the structural characteristics of the sensor 10a to meet the vibration isolation requirements of the first air spring 21a, the second air spring 22a, the third air spring 23a, and the third air spring 24a for the sensor 10a.

[0096] In some embodiments, the sensor 10a is fixedly connected to an external fixing structure, and the sensor 10a is disposed between a first air spring 21a and a second air spring 22a. The first air spring 21a and the second air spring 22a clamp the sensor 10a, thereby effectively preventing the center of gravity of the sensor 10a from drifting and swaying, and effectively reducing additional vibrations caused by instability. The fixed connection can be achieved through positioning holes.

[0097] For example, Figure 2B According to some embodiments of this application, a method is shown. Figure 1 The left view shows the sensor assembly in its assembled state.

[0098] like Figure 2B As shown, a plurality of positioning holes 212a are uniformly distributed along the axial direction of the first air spring 21a. In some embodiments, the positioning holes 212a may be bolt holes. A plurality of positioning holes 222a are uniformly distributed along the axial direction of the second air spring 22a. In some embodiments, the positioning holes 222a may be bolt holes.

[0099] In some embodiments, the first air spring 21a, the second air spring 22a, the third air spring 23a, and the third air spring 24a may be structures that can be filled with gas.

[0100] Specifically, the gas-fillable structure can be an inflatable air chamber. For example, the first air spring 21a includes a first air chamber that can be filled with gas; the second air spring 22a includes a second air chamber that can be filled with gas; the third air spring 23a includes a plurality of third air chambers that are circumferentially isolated from each other; the third air spring 24a includes a plurality of third air chambers that are circumferentially isolated from each other; the first air chamber, the second air chamber, and the third air chamber are filled with gas, and when the sensor is vibrated, the first air chamber, the second air chamber, and the third air chamber can dampen the vibration and reduce the vibration of the sensor 10a.

[0101] An air supply structure for supplying air to the first air chamber can be provided in the first air spring 21a. For example, Figure 2C According to some embodiments of this application, a method is shown. Figure 1 The image shows a top view of the sensor assembly in its assembled state. Figure 2C As shown, the top of the first air spring 21a is provided with an inlet valve 213a and an outlet valve 214a. The inlet valve 213a is used to connect to the air supply device to introduce gas into the first air chamber of the first air spring 21a. The air supply structure in the second air spring 22a is the same as that in the first air spring 21a, and will not be described again here.

[0102] In some embodiments of this application, the inlet valve and the outlet valve are located on the same side of the circumference of the air passage. This can shorten the connection distance between the inlet valve and the outlet valve and the air supply device to a certain extent, reduce the volume of the vibration isolation device, and facilitate installation.

[0103] The direction of vibration in the radial direction may differ with each vibration of sensor 10a. Therefore, to facilitate the decomposition and calculation of physical quantities in the vibration control process, such as to more accurately reduce each vibration and / or to more easily decompose and calculate acceleration, multiple independent, uniformly distributed vibration isolation structures with variable isolation levels can be arranged circumferentially around the third air spring 23a. In some embodiments, the vibration isolation structure is an air chamber; specifically, the third air spring 23a includes multiple third air chambers that are mutually isolated and uniformly distributed in the circumferential direction. This can effectively improve the accuracy of vibration control and also improve the calibration efficiency of the vibration isolation device or air spring.

[0104] For example, Figure 3A for Figure 1 Top view of the third air spring 23a. (See image below.) Figure 3A As shown, the third air spring 23a has four third air chambers evenly spaced in the circumferential direction: third air chamber 234a, third air chamber 235a, third air chamber 236a and third air chamber 237a.

[0105] The third air chambers 234a, 235a, 236a, and 237a can be of various shapes, for example, Figure 3B According to some embodiments of this application, a third air spring 23a is shown along... Figure 1 Cross-sectional view along the AA direction. (See diagram below.) Figure 3B As shown, the third air chambers 234a, 235a, 236a, and 237a have the same structure, each being a sealed chamber surrounded by a portion of the inner wall of the third air spring 23a and an arc-shaped surface. The portion of the inner wall of the third air spring 23a that makes up the third air chambers 234a, 235a, 236a, and 237a is designated as region A. The area of ​​region A is smaller than a preset area, so that the mutual force between the third air chambers 234a, 235a, 236a, and 237a and the sensor 10a is more concentrated, improving the vibration damping response of the sensor 10a.

[0106] Similarly, the air chambers in the third air spring 24a and the third air spring 23a have the same structure. For example, Figure 3C for Figure 1 Top view of the third air spring 24a. (See image below.) Figure 3C As shown, the third air spring 24a has four third air chambers evenly spaced in the circumferential direction. These four third air chambers are vibration isolation structures: third air chamber 245a, third air chamber 246a, third air chamber 247a and third air chamber 248a.

[0107] To mitigate the vibration of sensor 10a when it is subjected to vibration, it is necessary to change the air pressure values ​​in the third air chambers 234a, 235a, 236a, and 237a. Therefore, as... Figure 3B As shown, an air passage 238a can be provided circumferentially on the third air spring 23a. An air inlet valve 232a and an air outlet valve 233a are provided on the outer side of the air passage 238a. The air inlet valve 232a is used to connect to the air supply device, and the air supply device can then supply gas to the air passage 238a through the air inlet valve 232a.

[0108] The intake valve 232a and the exhaust valve 233a are located on the same side of the diameter of the third air spring 23a. This, to a certain extent, shortens the connection distance between the intake valve 232a and the exhaust valve 233a and the air supply device, reduces the size of the vibration isolation device, and facilitates installation.

[0109] Control valves 202 are installed between the third air chambers 234a, 235a, 236a, and 237a and the air passage 238a. When the control valve 202 of the corresponding air chamber is opened, the gas in the air passage 238a flows into the corresponding air chamber. Similarly, the third air spring 24a may also include multiple third air chambers that are circumferentially isolated from each other; the first, second, and third air chambers are filled with gas.

[0110] In this embodiment, the air duct refers to a pipe for supplying and exhausting air. It can be a ring structure.

[0111] The control valve in this embodiment may include a control valve and other structures that can be used to control the switch. When the control valve is open, it can control the flow of gas in the air passage into the air chamber; when the control valve is closed, it can prevent gas in the air passage from entering the air chamber.

[0112] In some embodiments, the intake valve 232a and the exhaust valve 233a are located on the same side of the diameter of the third air spring 23a. This, to a certain extent, shortens the connection distance between the intake valve 232a and the exhaust valve 233a and the air supply device, reduces the size of the vibration isolation device, and facilitates installation.

[0113] Each third air chamber can be spherical, such as an oblate spheroid.

[0114] The air supply system includes an air tank, an air pump, and air lines. The air tank and air pump are connected via air lines, and the air pump is connected to the air inlet valves in each vibration isolation device via air lines. The air tank is the air source for all the aforementioned air chambers. The air pump provides the power for filling the air tank and air lines.

[0115] The structure of the third air chamber, control valve, intake valve, exhaust valve, and air passage in the third air spring 24a is the same as that in the second air spring 22a, and will not be described again here.

[0116] To mitigate the vibration of sensor 10a, the damping and stiffness of the air spring are adjustable. Thus, when sensor 10a vibrates and acts on the air spring, the air spring, based on the adjusted damping and stiffness, generates a force opposite to the force acting on sensor 10a towards the air spring, thereby mitigating the vibration of sensor 10a. Furthermore, the greater the acceleration characteristic of sensor 10a's vibration, the greater the adjustment of the air spring's damping and stiffness; conversely, the smaller the acceleration characteristic of sensor 10a's vibration, the smaller the adjustment of the air spring's damping and stiffness. The air spring can be any one or more of the following: first air spring 21a, second air spring 22a, third air spring 23a, and third air spring 24a.

[0117] For example, Figure 3D for Figure 3C A schematic diagram illustrating the vibration reduction principle of the third air spring 24a. (See diagram below.) Figure 3D As shown, the damping and stiffness of the third air spring 24a are adjustable to mitigate the vibration of the sensor 10a. Thus, when the sensor 10a vibrates and acts on the third air spring 24a, the third air spring 24a generates a force F2, based on the adjusted damping and stiffness, opposite to the force F1 acting on the sensor 10a towards the third air spring 24a, thereby mitigating the vibration of the sensor 10a. Furthermore, the greater the acceleration characteristic of the sensor 10a's vibration, the greater the adjustment of the damping and stiffness of the third air spring 24a; conversely, the smaller the acceleration characteristic of the sensor 10a's vibration, the smaller the adjustment of the damping and stiffness of the third air spring 24a.

[0118] Figure 4 A schematic diagram of a vibration isolation system is shown according to some embodiments of this application. Figure 4 As shown, the vibration isolation system includes an electronic control unit 30, a vibration isolation device 20a, a sensor 10a, and an air supply device 40.

[0119] The vibration isolation device 20a includes a pressure sensor 201a and a control valve 202a; the pressure sensor 201a is used to measure the air pressure in each air chamber of the vibration isolation device 20a. The control valve 202a is used to regulate the volume of gas entering each air chamber of the vibration isolation device 20a.

[0120] The sensor 10a has a built-in inertial measurement unit (IMU) 101a, which is used to measure the acceleration of the sensor 10a when it vibrates. In some other embodiments, the inertial measurement unit 101a is disposed on the surface of the sensor 10a.

[0121] In this system, control valve 202a is connected to air supply device 40, and air pressure sensor 201a, control valve 202a, and sensor 10a are respectively connected to electronic control unit 30. Electronic control unit 30 receives the acceleration of the lidar 10b during vibration from inertial measurement unit 101b, and determines the desired damping and stiffness of each air chamber based on this acceleration. Electronic control unit 30 then determines the opening degree of the control valve based on the desired stiffness and damping of each air chamber and sends corresponding control valve opening adjustment commands to each control valve. Electronic control unit 30 repeats the above steps in the next cycle, reducing the vibration of sensor 10a in real time.

[0122] Figure 5 According to some embodiments of this application, corresponding to vibration isolation device 20a and Figure 4 The diagram shows a flow chart of a vibration isolation control method for a vibration isolation device 20a. The main body executing this process can be an electronic control unit (ECU) 30.

[0123] like Figure 5 As shown, the process includes the following steps:

[0124] 501: The acceleration of sensor 10a is obtained through inertial measurement unit 101a.

[0125] In this embodiment, the acceleration of the lidar is used to represent the current vibration state of the lidar. This embodiment can determine the degree of vibration reduction of the sensor 10a by decomposing the acceleration in the vibration direction of the lidar using the first air spring 21a, the second air spring 22a, the third air spring 23a, and the third air spring 24a. Therefore, a coordinate system needs to be established for the air chamber.

[0126] For example, such as Figures 3A-3D As shown, the four air chambers in the third air spring 23a and the third air spring 24a are distributed according to the orthogonal coordinate system xy axis.

[0127] Taking the third air spring 23a as an example, the direction of the center line connecting the midpoint of the line connecting the intake valve 232a and the exhaust valve 233a to the center of the third air spring 23a is the positive direction of the x-axis, and the axial direction from the bottom to the top of the third air spring 23a is the positive direction of the z-axis (as described below). Figure 6 As shown,Figures 3A-3D (Not shown in the diagram). The direction from left to right of the third air spring 23a is the positive y-axis, thus establishing an xyz rectangular coordinate system for parameter calibration during actual use. Correspondingly, the intake valve 232a is located in the first quadrant of the xy orthogonal coordinate system, and the exhaust valve 233a is located in the second quadrant of the orthogonal coordinate system.

[0128] Vibrations transmitted to sensor 10a from different directions are decomposed along the xyz axis and then transferred to the center direction of the four air chambers corresponding to the third air spring 23a to meet the lateral vibration isolation requirements. The part of the external vibration decomposed to the z-axis is transferred to the first air spring 21a and the second air spring 22a to meet the vertical vibration isolation requirements.

[0129] For example, Figure 6 A schematic diagram is shown illustrating the principle of an electronic control unit 30 decomposing the acceleration of sensor 10a into components along the x, y, and z axes. (See diagram for details.) Figure 6 As shown, the electronic control unit 30 obtains the acceleration a of the sensor 10a through the inertial measurement unit 101a. The acceleration a has a certain angle with the x-axis, y-axis and z-axis.

[0130] When vehicle 1 experiences vibration, the vibration is transmitted to sensor 10a. The vibration state of sensor 10a can be reflected by its acceleration. Therefore, after vehicle 1 starts, inertial measurement unit 101 can measure the acceleration of sensor 10a and send it to electronic control unit 30. In this way, electronic control unit 30 can determine the desired damping and stiffness of each air chamber in response to the vibration state based on the acceleration of sensor 10a, thereby reducing the vibration of sensor 10a, alleviating mechanical fatigue of sensor 10a, lowering the risk of structural fracture of sensor 10a and the rate of performance degradation, and improving the service life of sensor.

[0131] Before the electronic control unit 30 executes this step, it has already filled each air chamber of the first air spring 21a, second air spring 22a, third air spring 23a, and third air spring 24a with a preset volume of gas by controlling the control valve 202 of each air chamber, so that their internal pressure reaches a preset value. Thus, when the vehicle 1 is subjected to vibration and the vibration is transmitted to the sensor 10a, the first air spring 21a, second air spring 22a, third air spring 23a, and third air spring 24a, filled with the preset volume of gas, can provide a certain degree of vibration isolation for the lidar 10.

[0132] 502: Decompose the acceleration of sensor 10a into acceleration in the x-axis direction, acceleration in the y-axis direction, and acceleration in the z-axis direction.

[0133] For example, such asFigure 6 As shown, the electronic control unit 30 decomposes the acceleration of sensor 10a to the xy plane, and then decomposes the force decomposed to the xy plane to the x-axis, obtaining the acceleration component ax1 of acceleration a in the x-axis direction. Similarly, the electronic control unit 30 decomposes the acceleration of sensor 10a to the xz plane, and then decomposes the force decomposed to the xz plane to the x-axis, obtaining the acceleration component ax2 of acceleration a in the x-axis direction. Finally, ax1 and ax2 are summed to obtain the total acceleration component ax on the x-axis. Similarly, the electronic control unit 30 decomposes the acceleration of sensor 10a to the y-axis to obtain the total acceleration component ay of acceleration a in the y-axis direction; and the electronic control unit 30 decomposes the acceleration of sensor 10a to the z-axis to obtain the total acceleration component az of acceleration a in the z-axis direction.

[0134] 503: Convert the acceleration in the x-axis direction and the acceleration in the y-axis direction to the acceleration component in the direction of the center of the air chamber in the xy plane where the third air spring 23a and the third air spring 24a are located.

[0135] For example, Figure 7 According to some embodiments of this application, a schematic diagram is shown of a principle for converting acceleration in the x-axis direction and acceleration in the y-axis direction to the acceleration component in the direction of the center of the air chamber in the xy plane where the third air spring 23a is located. Figure 7 As shown, the electronic control unit 30 obtains the components a131, a132, a133 and a134 in the centerline direction of each air chamber of the third air spring 23a and the third air spring 24a based on the acceleration ax in the x-axis direction and the acceleration component ay in the y-axis direction, as well as the angle between the acceleration a1 and the center direction of the air chamber.

[0136] 504: Based on the acceleration components in the center direction of the four air chambers and the acceleration in the z-axis direction, calculate the desired stiffness and desired damping of each air chamber in the first air spring 21a, the second air spring 22a, the third air spring 23a and the third air spring 24a.

[0137] like Figure 7 As shown, the four air chambers are evenly spaced along the circumference, which makes it easier to decompose the acceleration into the x-axis and y-axis for acceleration decomposition calculation.

[0138] In this embodiment, the desired stiffness of each air chamber refers to the ability of each air chamber in the first air spring 21a, second air spring 22a, third air spring 23a, and third air spring 24a to resist elastic deformation under stress. Damping refers to the characteristic of any vibrating system that the vibration amplitude gradually decreases due to external forces or inherent causes within the system itself. Damping helps reduce the resonance amplitude of mechanical structures, thereby preventing structural failure caused by vibration stress reaching its limit. In this embodiment, the damping of each air chamber helps the sensor 10a quickly return to a stable state after being subjected to a momentary impact, resulting in high vibration isolation and reduction effects.

[0139] In some embodiments, the electronic control unit 30 calculates the desired damping and stiffness of each air chamber based on the acceleration components in the center direction of the four air chambers, the acceleration in the z-axis direction, and a preset cooperative control algorithm. The preset cooperative control algorithm can be a ceiling damping algorithm, a linear quadratic regulator (LQR), a model predictive control (MPC), or other algorithms, but is not limited to these.

[0140] 505: Determine the desired air pressure of each air chamber and the corresponding desired opening degree of the control valve based on the desired stiffness and desired damping of each air chamber.

[0141] Based on the inherent characteristics of air springs, the desired stiffness and damping of each air chamber correspond to the desired air pressure of each chamber. That is, based on the desired air pressure and fixed parameters of each air chamber, the desired stiffness and damping of each chamber can be derived through theoretical calculations and experimental calibration. Furthermore, the air pressure of each chamber can be measured in real time by a pressure sensor. Therefore, by adjusting the opening of the control valve 202 of each air chamber, the air pressure in each chamber can reach the desired level, thereby achieving the desired damping and stiffness values.

[0142] The electronic control unit 30 can find the opening degree of the control valve and the desired air pressure of each air chamber from a mapping table of stiffness, damping, control valve opening degree and air pressure based on the desired stiffness and damping of each air chamber.

[0143] 506: Send the corresponding control valve opening adjustment command to each control valve, and then continue to execute step 501 every preset time.

[0144] The control valve opening adjustment command carries the opening degree of the control valve in each air chamber and the desired air pressure information for each air chamber. The electronic control unit 30 controls the air pressure in each air chamber to achieve the desired stiffness and damping, and reduces the vertical (z-axis) and lateral (xy-plane) vibration of the sensor 10a based on closed-loop feedback cooperative control.

[0145] This application provides a computer-readable storage medium storing instructions that, when executed on an electronic device, cause the electronic device to perform the steps described in the various method embodiments above.

[0146] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored thereon on one or more temporary or non-temporary computer-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, computer-readable media may include any mechanism for storing or transmitting information in a computer-readable form, including but not limited to floppy disks, optical disks, CD-ROMs, magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible computer-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other forms of propagated signals. Therefore, computer-readable media includes any type of computer-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a computer (e.g., a computer).

[0147] Figure 8 According to some embodiments of this application, a schematic diagram of the principle of adjusting the air pressure in the air chamber based on the control valve opening adjustment command is shown.

[0148] Figure 8 The air chamber can be any one of the first air spring 21a, the second air spring 22a, the third air spring 23a, and the third air spring 24a.

[0149] like Figure 8As shown, the air pressure sensor 201a can measure the air pressure in the air chamber in real time. The comparator compares the real-time measured air pressure with the desired air pressure. If they are not equal, the electronic control unit 30 adjusts the opening of the control valve 202 based on the comparison result of the inequality and the opening of the control valve determined in step 705, so as to adjust the amount of gas entering the air chamber, so that the air chamber can meet the desired air pressure as much as possible, and thus make the air chamber meet the desired damping and stiffness as much as possible.

[0150] If vehicle 1 is constantly in motion, the degree of vibration experienced by vehicle 1 will change due to the unevenness of the mine road, and the acceleration of sensor 10a will also change accordingly. Therefore, electronic control unit 30 needs to periodically execute the control method of vibration isolation device 20a provided in this application embodiment to reduce the vibration of sensor 10a in real time, so as to improve the effect of reducing the vibration of sensor 10a.

[0151] The aforementioned air springs, vibration isolation devices, or sensor assemblies can be used not only in unmanned mining trucks in large-scale unmanned engineering operations, but also in other vehicles.

[0152] In this application, "vehicle" is used in a broad sense and can refer to means of transportation (such as cars, trucks, motorcycles, trains, airplanes, ships, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. This application does not limit the type of vehicle.

[0153] The following example illustrates the technical solution of this application by applying the above sensor assembly to an unmanned mining truck and using lidar as the sensor.

[0154] Figure 9 According to some embodiments of this application, a top view of an unmanned mining truck is shown.

[0155] like Figure 9 As shown, the unmanned mining truck 1 includes three sets of lidar: lidar 10d, lidar 10b, and lidar 10c. The three sets of lidar are respectively positioned at different locations on the unmanned mining truck 1. For example, lidar 10d and lidar 10b are respectively positioned at the two ends of the front of the unmanned mining truck 1, and lidar 10c is positioned at the rear of the unmanned mining truck 1.

[0156] The three sets of lidar are used to scan different areas. For example, lidar 10d is used to scan the fan-shaped area a at the left end of the front of the vehicle with lidar 10d as the center and a preset radius of r1. Lidar 10b is used to scan the fan-shaped area b at the right end of the front of the vehicle with lidar 10b as the center and a preset radius of r2. Lidar 10c is used to scan the fan-shaped area c at the rear of the vehicle with lidar 10c as the center and a preset radius of r3.

[0157] The types of lidar can be mechanical lidar or solid-state lidar, but are not limited to these.

[0158] Figure 10 According to some embodiments of this application, a schematic diagram of the connection structure of a lidar 10d, a vibration isolation device 20a, and an unmanned mining vehicle 1 is shown.

[0159] like Figure 10 As shown, the unmanned mining truck 1 includes a cab 50, an iron frame 70, a support beam 60, a lidar 10d, and a vibration isolation device 20a. The support beam 60 extends from the cab of the unmanned mining truck 1. The iron frame 70 is vertically mounted on the support beam 60 and fixedly connected to it. The upper surface and lower surface of the vibration isolation device 20a are fixedly connected to the iron frame 70.

[0160] Figure 9 The lidar 10b and vibration isolation device 20b shown can also be fixedly connected to the unmanned mining car 1 through the connection structure of the iron frame and supporting beam mentioned above. The lidar 10c and vibration isolation device 20c can also be fixedly connected to the unmanned mining car 1 through the connection structure of the iron frame and supporting beam mentioned above. This will not be described in detail here.

[0161] The lidar 10d is mounted on the support beam 60 of the unmanned mining truck 1. This support beam 60 is also called a cantilever beam structure. Generally, cantilever beams have natural vibration frequencies, and when uneven road surfaces transmit vibrations to the cantilever beam, its vibration modes will exhibit a first-order bending mode. Depending on the material, cross-section, moment of inertia, and height of the cantilever beam, there may also be second-order and third-order bending modes, affecting the stability of the sensor. Even with vertical steel plate reinforcement, it is still difficult to guarantee that the vibrations in certain directions and frequencies are not affected by the cantilever beam's own vibrations.

[0162] Because the lidar 10d employs the vibration isolation device 20a provided in this application embodiment, when the unmanned mining truck 1 is traveling on an unstructured road and subjected to vibration, the damping properties of the first air spring 21a, second air spring 22a, third air spring 23a, and third air spring 24a help reduce the amplitude of the lidar 10d's deviation from its initial position caused by vibration, allowing it to recover to a stable state as quickly as possible. The vibration isolation device 20a utilizes the damping characteristics of the first air spring 21a and second air spring 22a to isolate the lidar 10d in the vertical direction (e.g., perpendicular to the road surface), and utilizes the damping characteristics of the third air spring 23a and third air spring 24a to isolate the lidar 10d in the horizontal direction perpendicular to the axial direction. In this way, to a certain extent, the vibration of the lidar 10d in the vertical direction (y-axis direction) and the lateral direction (non-y-axis direction) is reduced, the mechanical fatigue of the lidar 10d is reduced, the risk of structural fracture of the lidar 10d and the speed of performance degradation are reduced, and the service life of the lidar 10d is improved.

[0163] In summary, the embodiments of this application have at least the following beneficial effects:

[0164] To some extent, the vibration isolation device of this application embodiment can effectively solve the multi-dimensional vibration isolation problem of sensors or sensors on poorly performing suspensions of large engineering vehicles (such as mining trucks) on complex road surfaces such as mines, or extend the life cycle of precision sensors and save costs.

[0165] To some extent, the vibration isolation device of this application embodiment can reduce the problem of measurement accuracy of vibration-sensitive sensors.

[0166] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0167] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Where there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An air spring, characterized in that, The air spring is sleeved on the side of the sensor. The air spring includes an air passage and at least two air chambers. The air passage is annular, and the at least two air chambers are evenly spaced along the circumference of the air passage. The at least two air chambers include a first air chamber and a second air chamber; The first air chamber is connected to the air passage via a first control valve, and the second air chamber is connected to the air passage via a second control valve; The opening degree of the first control valve and the opening degree of the second control valve are determined in the following manner: The desired stiffness and damping of each air chamber are determined based on the acceleration components obtained by decomposing the acceleration of the sensor vibration onto the plane of the air spring. The desired opening degree of each control valve is determined based on the desired stiffness and damping.

2. The air spring according to claim 1, characterized in that, The at least two air chambers also include a third air chamber and a fourth air chamber; The first air chamber, the second air chamber, the third air chamber, and the fourth air chamber are evenly distributed along the airway; The third air chamber is connected to the air passage via a third control valve, and the fourth air chamber is connected to the air passage via a fourth control valve.

3. The air spring according to claim 1, characterized in that, The air passage is also provided with an inlet valve and an outlet valve, wherein the inlet valve and the outlet valve are located on the same side of the circumference diameter of the air passage.

4. The air spring according to any one of claims 1 to 3, characterized in that, Each of the at least two air chambers is equipped with a pressure sensor.

5. The air spring according to any one of claims 1 to 3, characterized in that, It also includes a groove portion, which is disposed on the vertical bisector between two adjacent air chambers in the at least two air chambers.

6. A vibration isolation device, characterized in that, The vibration isolation device includes a first air spring and a second air spring. The first air spring is sleeved on the side of the sensor, and the second air spring is disposed at the first end of the sensor. The first air spring includes a first air passage, a first air chamber, and a second air chamber, wherein the first air passage is annular, and the first air chamber and the second air chamber are evenly spaced along the circumferential direction of the first air passage. The first air chamber is connected to the first air passage through a first control valve, and the second air chamber is connected to the first air passage through a second control valve. The opening degree of the first control valve and the opening degree of the second control valve are determined as follows: the desired stiffness and damping of each air chamber are determined based on the acceleration components obtained by decomposing the acceleration of the sensor vibration onto the plane where the first air spring is located, and the desired opening degree of each control valve is determined based on the desired stiffness and damping. The second air spring is used to attenuate the vibration component perpendicular to the plane where the first air spring is located.

7. The apparatus according to claim 6, characterized in that, The first air spring also includes a third air chamber and a fourth air chamber; The third air chamber is connected to the first air passage through a third control valve, and the fourth air chamber is connected to the first air passage through a fourth control valve; The first air chamber, the second air chamber, the third air chamber, and the fourth air chamber are evenly distributed along the circumference of the first air passage; Each of the first, second, third, and fourth air chambers is equipped with a pressure sensor.

8. The apparatus according to claim 6 or 7, characterized in that, The first air passage is also provided with a first air inlet valve and a first air outlet valve, wherein the first air inlet valve and the first air outlet valve are located on the same side of the circumference diameter of the first air passage.

9. The apparatus according to claim 6 or 7, characterized in that, The first air spring and the second air spring are integrally formed; or, the first air spring and the second air spring are fixedly connected.

10. The apparatus according to claim 6 or 7, characterized in that, It also includes a third air spring, a fourth air spring, and a bracket; the second air spring, the first air spring, the third air spring, and the fourth air spring are arranged in sequence; the second air spring is fixedly connected to the bracket, and the fourth air spring is fixedly connected to the bracket; The third air spring includes a second air passage, a fifth air chamber, a sixth air chamber, a seventh air chamber, and an eighth air chamber. The second air passage is annular and is also provided with a second inlet valve and a second outlet valve. The second inlet valve and the second outlet valve are located on the same side of the circumference diameter of the second air passage. The fifth, sixth, seventh, and eighth air chambers are evenly distributed along the circumference of the second air passage, and each of the fifth, sixth, seventh, and eighth air chambers is equipped with a pressure sensor. The fourth air spring is used to attenuate the vibration component perpendicular to the plane where the third air spring is located; the third air spring and the fourth air spring are fixedly connected.

11. The apparatus according to claim 10, characterized in that, The bracket is used to fix the vibration isolation device to the vehicle.

12. The apparatus according to claim 10, characterized in that, Both the second air spring and the fourth air spring are single-curved air springs.

13. A sensor assembly, characterized in that, Including vibration isolation devices and sensors; The vibration isolation device includes a first air spring and a second air spring. The first air spring is sleeved on the side of the sensor, and the second air spring is disposed at the first end of the sensor. The second air spring is used to attenuate the vibration component perpendicular to the plane where the first air spring is located. The first air spring includes a first air passage, a first air chamber, a second air chamber, a third air chamber, and a fourth air chamber; wherein, the first air passage is annular, and the first air chamber, the second air chamber, the third air chamber, and the fourth air chamber are evenly spaced along the circumference of the first air passage; The first air chamber is connected to the first air passage via a first control valve, the second air chamber is connected to the first air passage via a second control valve, the third air chamber is connected to the air passage via a third control valve, and the fourth air chamber is connected to the air passage via a fourth control valve. The opening degrees of the first control valve, the second control valve, the third control valve, and the fourth control valve are determined as follows: the desired stiffness and damping of each air chamber are determined based on the acceleration components obtained by decomposing the acceleration of the sensor vibration onto the plane where the air spring is located, and the desired opening degree of each control valve is determined based on the desired stiffness and damping.

14. The sensor assembly according to claim 13, characterized in that, It also includes a third air spring and a fourth air spring; the second air spring, the first air spring, the third air spring, and the fourth air spring are arranged in sequence; the third air spring is sleeved on the side of the sensor, and the fourth air spring is disposed at the second end of the sensor; The third air spring includes a second air passage, a fifth air chamber, a sixth air chamber, a seventh air chamber, and an eighth air chamber. The second air passage is annular and is also provided with a second inlet valve and a second outlet valve. The second inlet valve and the second outlet valve are located on the same side of the circumference diameter of the second air passage. The fifth, sixth, seventh, and eighth air chambers are evenly distributed along the circumference of the second air passage, and each of the fifth, sixth, seventh, and eighth air chambers is equipped with a pressure sensor. The fourth air spring is used to attenuate the vibration component perpendicular to the plane where the third air spring is located; the third air spring and the fourth air spring are fixedly connected.

15. A vibration isolation control method, characterized in that, The method is applied to a vibration isolation control system, which includes an electronic control unit and an air spring. The air spring is sleeved on the side of the sensor and includes an air passage and at least two air chambers. The air passage is annular, and the at least two air chambers are evenly spaced along the circumference of the air passage. The at least two air chambers include a first air chamber and a second air chamber; The first air chamber is connected to the air passage via a first control valve, and the second air chamber is connected to the air passage via a second control valve. The method includes: The electronic control unit acquires the acceleration from the sensor; The electronic control unit determines the desired stiffness and damping of the air chamber based on the component of the acceleration decomposed into a preset direction, wherein the preset direction is located in the plane where the air spring is located. The desired opening degree of each control valve is determined based on the desired stiffness and the desired damping. According to the desired opening degree, corresponding control valve opening adjustment commands are sent to each solenoid valve.

16. A vehicle, characterized in that, The vehicle is equipped with an air spring, which is the air spring according to any one of claims 1 to 5.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on an electronic device, cause the electronic device to perform the vibration isolation control method of claim 15.

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