Integrated sensor support, combined sensor and automatic driving equipment

Abstract

The embodiment of the invention discloses an integrated sensor support, a combined sensor and automatic driving equipment. The integrated sensor bracket comprises a camera bracket, an integrated bracket and a mounting bottom plate; the camera bracket comprises a first fixing plate and a first connecting plate, and one end of the first fixing plate is connected with one end of the first connecting plate; the integrated bracket comprises a cross beam and an integrated plate; one end of the cross beam is vertically connected with the integrated plate; the mounting bottom plate comprises a second fixing plate which is connected with the integrated support. The combined sensor comprises a plurality of sensors and an integrated sensor support, and the plurality of sensors are rigidly connected with the integrated sensor support. Wherein the sensor comprises a camera, a laser radar and an inertial measurement unit. According to the integrated sensor support and the combined sensor provided by the embodiment of the invention, the problems of large visual field difference and external parameter change between current different sensors can be improved, and the integrated sensor support and the combined sensor are convenient to disassemble and replace.

Description

Technical Field

[0001] The present application relates to the field of multi-sensor fusion technology, and in particular to an integrated sensor bracket, a combined sensor and an autonomous driving device. Background Art

[0002] At present, autonomous driving and advanced driver assistance technologies are booming. The ability of autonomous driving systems to collect information about the surrounding environment is crucial to vehicle safety. Autonomous driving car functions such as automatic parking, highway cruise control, and automatic emergency braking rely heavily on sensors. Since the information obtained by a single sensor is very limited, the implementation of various autonomous driving solutions currently usually needs to rely on different types of sensors, using a variety of sensor functions to complement each other for environmental perception to meet the needs of detection and data collection. In one example, the car's auxiliary system is equipped with multiple sensors such as cameras, millimeter-wave radars, and lidars. Compared with independent sensor solutions, the use of multiple sensors can help computers or drivers make safer decisions.

[0003] Multi-sensor fusion is an information processing process that uses computer technology to automatically analyze and synthesize information and data from multiple sensors or multiple sources according to certain criteria to complete the required decision-making and estimation. However, since the data characteristics, field of view (FOV) and ranging accuracy of each sensor are different, when multiple sensors are installed around the vehicle, different types of sensors will have large viewing angle differences due to large differences in installation positions. In addition, due to different bumps in different areas, the external parameters between sensors at different positions during operation also change with the bumps. This not only creates difficulties for the subsequent fusion algorithm in terms of algorithm, but also fails to give full play to the advantages of multiple sensors. Summary of the invention

[0004] The embodiments of the present application aim to provide an integrated sensor bracket, a combined sensor and an autonomous driving device to improve the current problems of large field of view differences and external parameter changes between different sensors.

[0005] In the first aspect, an embodiment of the present application provides an integrated sensor bracket, comprising a camera bracket, an integrated bracket and a mounting base plate; the camera bracket comprises a first fixing plate and a first connecting plate, one end of the first fixing plate is connected to one end of the first connecting plate; the integrated bracket comprises a crossbeam and an integrated plate, one end of the crossbeam is vertically connected to the integrated plate; the mounting base plate comprises a second fixing plate, and the second fixing plate is connected to the integrated bracket; a positioning pin is provided on the integrated plate for fixing the sensor; a plurality of limiting holes are provided on the crossbeam, and a projection of the crossbeam on the integrated plate is vertically bisected by a line connecting the midpoint of an edge of the integrated plate and the center of the positioning pin; the camera bracket is rigidly connected to the integrated bracket, and the integrated bracket is rigidly connected to the mounting base plate.

[0006] In one embodiment, a camera limiting hole is provided on the first fixing plate, a positioning guide hole is provided on the first connecting plate, and the first connecting plate is connected to the integrated bracket.

[0007] In one embodiment, the positioning guide hole is an arc-shaped long hole, and the value of the center angle of the positioning guide hole is within the angle range of 50° to 80°. The setting of the positioning guide hole enables the camera bracket to have rotational freedom. During installation, the pitch angle, yaw angle or roll angle of the camera can be adjusted according to actual needs, so that the viewing angle difference between the camera and other sensors is as small as possible, thereby improving the data fusion accuracy.

[0008] In one embodiment, each mounting position on the integrated bracket is provided with at least two limiting holes for fixing the camera bracket and the sensor. By using multiple holes for installation, the load can be evenly distributed to multiple support points, which can reduce local stress, increase the fixed contact area and friction, thereby improving the support stability and reducing the risk of damage caused by concentrated load at a single point.

[0009] In one embodiment, the rigid connection includes a bolt and nut connection, a welding connection, a strong adhesive connection or a lap connection. The rigid connection can provide sufficient support to resist the influence of external forces and vibrations, effectively reduce the deviation of the sensor position or the change of parameters, and ensure the stability of the sensor structure.

[0010] In one embodiment, the crossbeam is a rectangular sheet metal part, the crossbeam and the integrated plate are an integral structural part or the crossbeam and the integrated plate are rigidly connected split structural parts.

[0011] In some embodiments, the plurality of limiting holes are arranged in a matrix, wherein the distances between at least two pairs of the limiting holes are equal. Such a design provides greater flexibility and adjustment capability, and different hole combinations can meet different installation requirements. By selecting appropriate holes for fixing, the position and direction of the sensor can be fine-tuned.

[0012] In some embodiments, the integrated sensor bracket is made of aluminum alloy, magnesium alloy or titanium alloy. The above materials have the advantages of light weight, high strength, corrosion resistance, good thermal conductivity, etc. These characteristics are suitable for application scenarios where the sensor bracket needs to be stable, durable and lightweight.

[0013] In a second aspect, an embodiment of the present application provides a combination sensor, comprising multiple sensors for acquiring environmental information, wherein the field of view angles of at least two of the multiple sensors overlap or partially overlap; the multiple sensors include a camera and a laser radar, wherein the focus of the camera is at a distance less than a preset value from the center of the laser emitter of the laser radar; the multiple sensors include an inertial measurement unit, the center of the inertial measurement unit is collinear with the center of the laser radar in the horizontal direction, or the center of the inertial measurement unit is collinear with the center of the laser radar in the vertical direction; an integrated sensor bracket for integrating the multiple sensors; the multiple sensors are rigidly connected to the integrated sensor bracket.

[0014] In some embodiments, the sensor also includes a millimeter wave radar, an ultrasonic radar, and an infrared sensor.

[0015] In some embodiments, the rigid connection includes a bolt and nut connection, a welding connection, a strong adhesive connection or a lap connection.

[0016] On the third aspect, the present application also proposes an autonomous driving device, which includes an identification module, a body and an integrated combination sensor. The identification module includes a laser radar component, a camera component, a millimeter wave radar component or a real-time dynamic differential measurement system; the body includes a driving mechanism and a controller, the driving mechanism is used to drive the body to move, and the controller is electrically connected to the identification module; the integrated combination sensor includes an integrated sensor bracket and a sensor, the sensor is fixed on the integrated sensor bracket, and the integrated sensor bracket is installed on the body. Among them, the autonomous driving device can be a car, a ship, an aircraft, etc., without limitation.

[0017] In some embodiments, the laser radar assembly includes: a top laser radar for all-round detection of the body; a top forward laser radar for detecting obstacles in front of the device body; and a surround laser radar for detecting near-field blind spots of the device body.

[0018] In some embodiments, the camera assembly includes a front telephoto camera for obtaining visual information of a distant target in front of the device body; a front wide-angle camera for obtaining visual information in front of the device body to increase the field of view; a side front camera for obtaining visual information on the side of the front of the device body; a side rear camera for obtaining visual information on the side of the rear of the device body; a rear camera for obtaining visual information on the rear of the device body; and a fisheye camera for reducing blind spots and providing a panoramic field of view. Cameras with different field of view angles can be combined to provide a wider field of view and richer image information, achieving all-round environmental perception.

[0019] In some embodiments, the camera assembly has a level 6 dustproof capability and a level 7 waterproof capability. This means that the camera assembly can effectively prevent the entry of dust, fine particles, debris, etc., and can be immersed in water for a short period of time without being damaged. The extremely high dustproof capability can keep the camera lens clear and provide stable quality images; the high waterproof capability can prevent rain or other liquids from penetrating into the interior, allowing the camera to work for a long time in rainy days, humid environments or underwater environments. These two capabilities enhance the durability and reliability of the camera assembly, enabling it to adapt to harsh environments and more application scenarios.

[0020] The integrated sensor bracket structure and the layout and configuration of the combined sensor disclosed in the present application minimize the difference in viewing angles between multiple sensors. In the combined sensor, the sensor is rigidly connected to the bracket and an inertial measurement unit is installed, which solves the problem of external parameter changes caused by jitter from both hardware and algorithm aspects. Therefore, the integrated sensor bracket, combined sensor and autonomous driving equipment proposed in the present invention are conducive to improving the accuracy of multi-sensor data fusion, obtaining more reliable and accurate data fusion results, thereby enhancing environmental perception and obstacle recognition capabilities, and improving positioning and navigation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is a structural schematic diagram of an integrated sensor bracket provided in an embodiment of the present application;

[0023] Figure 2 is a structural schematic diagram of an integrated sensor bracket provided in an embodiment of the present application;

[0024] Figure 3 is a structural schematic diagram of an integrated sensor bracket provided in an embodiment of the present application;

[0025] Figure 4 is a structural schematic diagram of an integrated sensor bracket provided in an embodiment of the present application;

[0026] Figure 5 is a structural schematic diagram of an integrated sensor bracket provided in an embodiment of the present application;

[0027] Figure 6 It is a schematic diagram of the composition of the combined sensor provided in the embodiment of the present application;

[0028] Figure 7 It is a schematic diagram of the composition of the combined sensor provided in the embodiment of the present application.

[0029] Description of reference numerals: 11, camera bracket; 12, integrated bracket; 13, mounting base; 11a, fisheye camera bracket; 11b, side front camera bracket; 11c, side rear camera bracket; 21, fisheye camera; 22, side front camera; 23, side rear camera; 24, laser radar; 25, inertial measurement unit; 26, front wide-angle camera; 27, front telephoto camera; 28, connector; 24a, surround laser radar; 24b, top forward laser radar; 111, first fixing plate; 112, first connecting plate; 113 , camera limiting hole; 114, limiting hole; 115, adjustment guide hole; 121, crossbeam; 122, integrated board; 123, positioning pin; 1211, first horizontal plate; 1212, first vertical plate; 1213, rectangular through hole; 1214, support plate; 131, second fixing plate; 132, second connecting plate; 133, supporting platform; 1311, second horizontal plate; 1312, second vertical plate; 132a, second connecting upper plate; 132b, second connecting lower plate; 1321, wing plate; 1322, mounting hole; 1323, reinforcement plate. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0031] Embodiment 1:

[0032] like Figure 1-3As shown, the lateral integrated sensor bracket includes: a fisheye camera bracket 11a, a side front camera bracket 11b, a side rear camera bracket 11c, an integrated bracket 12 and a mounting base plate 13.

[0033] The fisheye camera bracket 11a includes a first fixing plate 111 and a first connecting plate 112, and one end of the first fixing plate 111 is connected to one end of the first connecting plate 112. A camera limiting hole 113 is provided on the first fixing plate 111 for installing the fisheye camera; a circular limiting hole 114 is provided on the first connecting plate 112, which is connected to the integrated bracket 12. The first connecting plate 112 and the first horizontal plate 1211 are horizontally overlapped by limiting bolts, and the angle between the first fixing plate 111 and the first connecting plate 1121 is an obtuse angle. The first fixing plate 111 is tilted outward from the edge of the first horizontal plate 1211, so that the field of view of the fisheye camera will be at a preset angle with the ground, which is conducive to eliminating blind spots and realizing the detection of the target area. When installing the fisheye camera bracket 11a, different limiting holes 114 can be selected to change the connection position of the first connecting plate 112 and the crossbeam 121, so as to adjust the fisheye camera telescopically, so that the camera is not blocked by the laser radar and the difference in viewing angle with the laser radar is small.

[0034] The side front camera bracket 11b or the side rear camera bracket 11c includes a first fixing plate 111 and a first connecting plate 112, one end of the first fixing plate 111 is vertically connected to one end of the first connecting plate 112; the first fixing plate 111 is provided with a camera limit hole 113 for installing the side front camera or the side rear camera; the first connecting plate 112 is provided with a positioning guide hole 115, the positioning guide hole 115 is an arc-shaped long strip hole, and the value of the hole center angle is 55° or 60°. The first connecting plate 112 is directly overlapped with the crossbeam 121, and the limit bolt passes through the positioning guide hole 115 and the corresponding limit hole on the first horizontal plate 1211. The camera can be rotated within a certain angle range by sliding along the arc of the long strip hole, thereby adjusting the yaw angle of the side front camera or the side rear camera. The fisheye camera bracket 11a is installed at the midpoint of one side edge of the first horizontal plate 1211, and the side front camera bracket 11b and the side rear camera bracket 11c are respectively installed on both sides of the fisheye camera bracket 11a. In some embodiments, the camera bracket 11 is fixed to the integrated bracket 12 with the first connecting plate 112 perpendicular to the ground, and the pitch angle and roll angle of the camera bracket 11 are adjustable. The rotational freedom of the camera bracket 11 increases the flexibility of the structure and can meet the engineering needs and design requirements of different autonomous driving solutions.

[0035] In this embodiment, the integrated bracket 12 is a split structural member, including a crossbeam 121 and an integrated plate 122, and the crossbeam 121 and the integrated plate 122 are rigidly connected by bolts. The integrated plate 122 is a rectangular sheet metal part, which is overlapped with the vertically arranged second connecting plate 132 by bolts. The main body of the integrated plate 122 is provided with a plurality of circular limiting holes 114 of different sizes and a circular positioning pin 123. The positioning pin 123 is used to fix the laser radar and determine the direction of the laser radar output line, which can ensure the accuracy of the installation and disassembly of the laser radar and improve the accuracy of subsequent modification. The crossbeam 121 is located in the upper half of the integrated plate 122, including a first horizontal plate 1211 and a first vertical plate 1212. The first horizontal plate 1211 is used to integrate the camera bracket 11. The projection of the first horizontal plate 1211 on the integrated plate 122 is perpendicularly bisected by the line connecting the midpoint of the edge of the integrated plate 122 and the center of the circle of the positioning pin 123. This setting can ensure that the laser radar and the camera are in the same direction and have a large overlap of the field of view angle. In some embodiments, a plurality of limiting holes 114 are provided at the front end of the first horizontal plate 1211, and the limiting holes in the middle part are arranged in a 6*2 matrix for fixing the fisheye camera bracket 11a, wherein the distances between at least two pairs of limiting holes are equal; there are three limiting holes at each corner for fixing the side front camera bracket 11b and the side rear camera bracket 11c, and the three limiting holes are distributed at the three vertices of a triangle. A rectangular through hole 1213 is provided in the middle of the first horizontal plate 1211 near the integrated board 122, which can improve the bending and torsion resistance of the beam and reduce the weight of the structural parts. In some embodiments, four limiting holes 114 distributed in a 2*2 pattern are provided on the first vertical plate 1212, and bolts are passed through the limiting holes 114 on the first vertical plate 1212 to fix the beam 121 to the integrated board 122. Support plates 1214 are provided at both ends of the angle between the first horizontal plate 1211 and the first vertical plate 1212, and the support plates 1214 form a stable right-angled triangle structure between the first horizontal plate 1211 and the first vertical plate 1212. The triangular support plates help to resist external loads and stresses, reduce the torsion and deformation of the beam at the connection, increase the rigidity and strength of the connection, and thus maintain the stability and working effect of the structure.

[0036] The mounting base plate 13 includes a second connecting plate 131 and a second connecting plate 132. The second connecting plate 131 is provided with a plurality of circular limiting holes 114 for overlapping with the integrated bracket by bolts. In some embodiments, the second connecting plate 132 includes a second connecting upper plate 132a and a second connecting lower plate 132b arranged nearly in parallel, and the second connecting lower plate 132b is in the shape of a trapezoid. One end of the second connecting plate 132 is vertically connected to the second fixed plate 131, and the end away from the second fixed plate 131 is vertically connected to the wing plate 1321, and each 1321 is centrally provided with a mounting hole 1322. The second connecting upper plate 132a is connected to one wing plate 1321, and the second connecting lower plate 132b is connected to two wing plates 1321. The mounting holes 1322 on the wing plates 1321 are used to fix the integrated sensor bracket. In some embodiments, there are multiple triangular support plates 1214 at the connection between the second connecting plate 132 and the second fixed plate 131; four parallel reinforcement plates 1323 are arranged between the second connecting upper plate 132a and the second connecting lower plate 132b, and one end of the reinforcement plate 1323 is vertically connected to the second connecting upper plate 132a, and the other end is connected to the second connecting lower plate 132b.

[0037] At least two limiting holes are provided at each mounting position on the integrated bracket 12 for fixing the camera bracket 11 and the sensor. Multi-point fixation has higher safety and reliability than single-point fixation. Due to the increase in connection points, even if one of the connection points becomes loose, other connection points can still provide stable support; multi-point fixation can also disperse loads and stresses, reduce the risk of damage to structural parts, improve durability, and meet the application requirements of long-term operation installed on autonomous driving equipment. Rigid connections are adopted between the camera bracket 11 and the integrated bracket 10, and between the integrated bracket 12 and the mounting base plate 13, including but not limited to bolt connection, welding connection, strong adhesive connection or lap connection. Rigid connection provides a high degree of stability and rigidity, can resist vibration and impact, keep the connected objects in a relatively fixed position and posture, and reduce the changes in external parameters caused by bumps and shakes. The integrated sensor bracket 1 is preferably made of aluminum alloy, magnesium alloy or titanium alloy. Such materials have the advantages of light weight, high strength, easy processing and good heat dissipation, which help to improve the performance, reliability and service life of the integrated sensor bracket.

[0038] Embodiment 2:

[0039] like Figure 4-5As shown, the integrated sensor bracket includes: a camera bracket 11, an integrated bracket 12, and a mounting base plate 13. The camera bracket 11 includes a first fixing plate 111 and a first connecting plate 112. One end of the first fixing plate 111 is connected to one end of the first connecting plate 112, and the angle at the connection is an obtuse angle. A camera limiting hole 113 is provided on the first fixing plate 111 for installing the camera. The camera is inserted into the camera limiting hole 113. After the limiting bolt passes through the camera limiting hole 113, the camera is locked with the first fixing plate 111 by a nut. The angle between the first fixing plate 111 and the ground is not a right angle. The first fixing plate 111 extends obliquely upward from the rear end connected to the first connecting plate 112 to the front end. The camera viewing angle will form a preset angle with the ground, which is convenient for scanning the target area. In some embodiments, the first connecting plate 112 is provided with limiting holes 114 arranged in a matrix, corresponding to the arrangement of the limiting holes on the beam 121. When the camera bracket 11 is installed, different limiting holes 114 can be selected to change the connection position between the camera bracket 11 and the beam 121, thereby adjusting the camera's field of view angle so that the camera is not blocked by the laser radar, and the viewing angle difference between the camera and the laser radar can be reduced, thereby achieving the purpose of improving data fusion accuracy.

[0040] The integrated bracket 12 is used to install the laser radar and fix the camera bracket 11. The integrated bracket 12 includes a crossbeam 121 and an integrated board 122. One end of the crossbeam 121 is vertically connected to the integrated board 122. The square lower half of the integrated board 122 is overlapped and connected to the second connecting plate 132. The area is provided with a limiting hole 114 and a circular positioning pin 123 for positioning and fixing the laser radar. The positioning pin 123 can accurately position the laser radar and the integrated bracket 12 relative to each other, ensuring the installation accuracy of the laser radar and the consistency of the orientation and field of view between multiple sensors. The positioning pin 123 can also provide additional fixing force to increase the rigidity and stability of the connection between the laser radar and the integrated bracket. In addition, the provision of the positioning pin 123 facilitates the installation and disassembly of the laser radar and improves the accuracy of subsequent modification. The crossbeam 121 includes a first horizontal plate 1211 and a first vertical plate 1212. The first horizontal plate 1211 is used to integrate the camera bracket 11. The projection of the first horizontal plate 1211 on the integrated plate 122 is perpendicularly bisected by the line connecting the midpoint of the edge of the integrated plate 122 and the center of the circle of the positioning pin 123. This setting can ensure that the laser radar and the camera are in the same direction and have a large overlap of the field of view angle. In some embodiments, the first vertical plate 1212 is connected to the integrated plate 122 by bolts to fix the crossbeam 121 directly above the positioning pin 123. Two rows of limit holes 114 are set on the first horizontal plate 1211, and the distance between two adjacent holes in the same row is equal.

[0041] The mounting base plate 13 includes a second fixing plate 131, a second connecting plate 132 and a supporting platform 133, and the second fixing plate 131 is connected to the integrated bracket 12. The second connecting plate 132 is rectangular, and has a plurality of limit holes 114 symmetrically distributed on the plate, and the shape of the limit holes 114 is circular or long. During installation, the second connecting plate 132 is fixed vertically to the ground by bolts and / or strong glue to ensure that the integrated sensor bracket will not vibrate significantly due to external bumps. In some embodiments, the second fixing plate 131 includes a second horizontal plate 1311 and a second vertical plate 1312, one end of the second horizontal plate 1311 is vertically connected to one end of the second vertical plate 1312, and there are triangular support structures at both ends of the connection; the other end of the second horizontal plate 1311 is vertically connected to the top of the second fixing plate 1312 through a limit hole and a bolt, and a supporting platform 133 is installed at the angle edge between the second horizontal plate 1311 and the second connecting plate 1312. The supporting platform 133 includes two right-angled triangular sheet metal parts parallel to each other, and a plurality of limiting holes 114 are evenly provided on the side surfaces of the two right-angled sides of the sheet metal parts, wherein the shorter right-angled side is connected to the second horizontal plate 1311, and the longer right-angled side is connected to the second connecting plate 132. The second vertical plate 1312 is provided with limiting holes 114 and circular positioning pins 123 for overlapping the second fixing plate 131 and the integrated plate 122, and the integrated plate 122 and the second horizontal plate 1311 are located on the opposite sides of the second vertical plate 1312.

[0042] At least two limit holes are provided at each sensor installation position on the camera bracket 11 and the integrated bracket 12 for fixing the sensor. Compared with single-point fixing, multi-point fixing has higher safety and reliability. Due to the increase in connection points, even if one of the connection points becomes loose, the other connection points can still provide stable support; multi-point fixing can also disperse loads and stresses, reduce the risk of damage to structural parts, improve durability, and meet the application requirements of long-term operation installed on autonomous driving equipment.

[0043] The camera bracket 11 and the integrated bracket 12, and the integrated bracket 12 and the mounting base plate 13 are all rigidly connected, including but not limited to bolt connection, welding connection, strong adhesive connection or overlap connection, so that the position of the structural parts does not change by more than 0.1 cm, and the angle does not change by more than 0.1 degrees. The rigid connection provides a high degree of stability and rigidity, can resist vibration and impact, keep the connected objects in a relatively fixed position and posture, and reduce the changes in external parameters caused by bumps and shakes.

[0044] The integrated sensor bracket is preferably made of aluminum alloy, magnesium alloy or titanium alloy, and the parts are rounded; such materials have the advantages of light weight, high strength, easy processing and good heat dissipation, which help to improve the performance, reliability and service life of the camera bracket.

[0045] Embodiment three:

[0046] like Figure 6 As shown, this embodiment discloses a combined sensor, including an integrated sensor bracket and multiple sensors. In this embodiment, the sensor includes a fisheye camera 21, a side front view camera 22, a side rear view camera 23, a surround view laser radar 24 and an inertial measurement unit. The integrated sensor bracket includes a camera bracket 11, an integrated bracket 12 and a mounting base plate 13. The specific connection relationship can refer to the above embodiment.

[0047] The three cameras are horizontally mounted on the integrated bracket 12 through the camera bracket 11, with their centers on the same horizontal line. In some embodiments, the fisheye camera 21 is mounted in the middle of the integrated bracket 12, and the side front view camera 22 and the side rear view camera 23 are respectively located on the left and right of the fisheye camera 21. The camera is fixed with a limiting bolt, and the camera passes through the camera limiting hole 113 on the camera bracket 11, and at least partially extends from the camera limiting hole 113. After the end of the limiting bolt passes through the camera limiting hole 113, the camera is locked and positioned with the first fixing plate 111 by a tightening nut. The position where the camera bracket 11 is connected to the integrated bracket 12 can be adjusted, and can be extended and retracted at least 500mm forward and backward. The camera angle can be adjusted by ±5°.

[0048] The laser radar 24 and the inertial measurement unit are installed under the camera through positioning pins and bolts to ensure that the centers of the two are collinear in the horizontal direction. The field of view angles of the camera and the laser radar 24 partially overlap, and the distance between the focus of the camera and the center of the laser radar 24 transmitter does not exceed 10 cm. The integrated bracket 12 is connected to the mounting base plate 13 on the side away from the sensor, and the mounting base plate 13 is provided with a plurality of limit holes for fixing the integrated combined sensor. In actual use, multiple integrated combined sensors on the same device will have different amplitudes of jitter due to different installation positions, and this jitter will affect the fusion of multiple sensors. After adding an inertial measurement unit to each integrated combined sensor, the inertial measurement unit can calculate the jitter curve to correct the external parameters, thereby achieving the purpose of anti-shake. All sensors in the integrated combined sensor are rigidly connected to the integrated sensor bracket. The rigid installation of each sensor in the local structural member can ensure that the external parameters of all sensors on this structural member will not change with jitter and bumps, which provides a guarantee for the accuracy of subsequent multi-sensor fusion. Taking into account factors such as the sensor's own point and perception field of view, in this embodiment, the sensor is preferably installed above the left / right front wheel of the vehicle, close to the edge of the door.

[0049] The integrated combined sensor in this embodiment integrates the camera and the laser radar. The combined sensing of these two sensing technologies complement each other and can provide a certain degree of redundancy in the event of errors or failures. The laser radar can obtain accurate three-dimensional point cloud data, while the camera can provide high-resolution image information. The fusion of the depth information of the laser radar and the image information of the camera can achieve accurate three-dimensional environment reconstruction, thereby providing more comprehensive and accurate environmental perception capabilities.

[0050] Embodiment 4:

[0051] like Figure 7 As shown, this embodiment discloses an integrated combined sensor, which includes a surround-view laser radar 24a, a top forward laser radar 24b, a forward wide-angle camera 26, a forward telephoto camera 27, an inertial measurement unit and an integrated sensor bracket 1. The specific structure of the integrated sensor bracket can refer to the above embodiment.

[0052] In this embodiment, the surround laser radar 24a is fixed to the center of the integrated board 122 by the positioning pin 123 and the connector 28, the top forward laser radar 24b is fixed to the midpoint of the front edge of the integrated board 122, the front wide-angle camera 26 is installed on the left side of the top forward laser radar 24b through the camera bracket 11, and the front telephoto camera 27 is installed on the right side of the top forward laser radar 24b through the camera bracket 11. The installation height of the front wide-angle camera 26 and the front telephoto camera 27 is the same as that of the top forward laser radar 24b. The front wide-angle camera 26 and the front telephoto camera 27 can be fine-tuned in angle and front and rear position to prevent the camera field of view from being blocked by the laser radar. The top forward laser radar 24b and the camera are both installed horizontally, and the distance between the center point of the top forward laser radar 24b and the focus of the camera does not exceed 10cm. This distance can ensure that the focal length of the field of view of the camera and the laser radar is basically the same, so that the field of view of the two sensors overlaps to the maximum extent. By coinciding the field of view angle, the data of the camera and the laser radar can be fused for depth information, thereby obtaining a more accurate and complete environmental perception result. In some embodiments, the inertial measurement unit is installed behind the top forward laser radar 24b and directly below the surround laser radar 24a by locating pins and bolts. The center of the inertial measurement unit is collinear with the center of the top forward laser radar 24b in the horizontal direction and collinear with the center of the surround laser radar 24a in the vertical direction. This is set up because the posture and acceleration of the inertial measurement unit are generally assumed to represent the overall state, so the best installation position of the inertial measurement unit is the center position of the axis. The inertial measurement unit provides information about the position, speed, attitude and motion characteristics of the object by measuring the acceleration and angular velocity, and can provide perception of the object's own motion even in the absence of an external reference. Therefore, the real-time posture of the inertial measurement unit computing device can be installed to compensate for the change of external parameters, thereby reducing the sensor data error. Fusion of the data of the inertial measurement unit 25 with the data of other sensors (such as cameras and laser radars) can integrate the advantages of different sensors and improve the accuracy and robustness of environmental perception. All sensors are rigidly connected to the integrated sensor bracket 1 through bolts and fasteners.

[0053] The integrated combined sensor 1 in this embodiment can be fixed on the top of the car by installing the base plate 13. The laser radar is installed close to the roof to meet the requirements of concealment, firmness and aesthetics. At the same time, the integrated sensor bracket realizes the installation of multiple sensors on a structural member, which is convenient for disassembly and replacement, and close to mass production.

[0054] Embodiment five:

[0055] The embodiment of the present application provides an autonomous driving vehicle, including an identification module, a body and an integrated combined sensor. The identification module includes a laser radar component, a camera component, a millimeter wave radar component and a real-time dynamic differential measurement system; the body includes a driving mechanism and a controller, the driving mechanism is used to drive the body to move, and the controller is electrically connected to the identification module; the integrated combined sensor includes an integrated sensor bracket and a sensor, the sensor is fixed on the integrated sensor bracket, and the integrated sensor bracket is installed on the body.

[0056] Furthermore, the laser radar components include: a top laser radar for all-round detection of the device body; a top forward laser radar for detecting obstacles in front of the device body; and a surround laser radar for detecting the near-field blind spot of the device body. Among them, the top laser radar has a horizontal field of view of 360° and a vertical field of view of 40°; the top forward laser radar has a horizontal field of view of 120° and a vertical field of view of 25°; and the surround laser radar has a horizontal field of view of 360° and a vertical field of view of 90°.

[0057] Furthermore, the camera assembly includes: a front telephoto camera for obtaining visual information of distant targets in front of the device body, for high-precision measurement and long-distance shooting; a front wide-angle camera for obtaining visual information in front of the device body and increasing the field of view; a side front camera for obtaining visual information on the front side of the device body; a side rear camera for obtaining visual information on the rear side of the device body; a rear camera for obtaining visual information on the rear of the device body and detecting obstacles; and a fisheye camera for reducing blind spots, providing a panoramic field of view, and achieving all-round environmental perception. All of the above camera assemblies have a level 6 dustproof capability and a level 7 waterproof capability. In some embodiments, the front-view telephoto camera has a horizontal field of view of 32°, a vertical field of view of 21°, and a relative aperture of 1.6; the front-view wide-angle camera, the side front-view camera, and the side rear-view camera have a horizontal field of view of 114°, a vertical field of view of 74°, and a relative aperture of 2.8; the rear-view camera has a horizontal field of view of 64°, a vertical field of view of 40°, and a relative aperture of 1.8; the fisheye camera has a horizontal field of view of 196°, a vertical field of view of 154°, and a relative aperture of 2.0.

[0058] In this embodiment, the sensors of the recognition module can be divided into four groups. The first group includes a top laser radar, a top forward laser radar and two surround laser radars; the second group includes four surround laser radars; the third group includes a front wide-angle camera, a front telephoto camera, two side front cameras, two side rear cameras and a rear camera; the fourth group includes four fisheye cameras; each group of sensors covers a 360° field of view.

[0059] Next, the installation positions and angles of the four groups of sensors of the identification module are explained in detail.

[0060] The top laser radar is installed horizontally in the center of the roof, with the center point 2 meters from the ground; the top forward laser radar is installed horizontally at the midpoint of the upper edge of the front windshield on the roof, with the center point 1.9 meters from the ground; the two surround-view laser radars are inclined at 85° to the ground and are symmetrically installed on the left and right edges of the roof, with the center point 2 meters from the ground and collinear with the top laser radar.

[0061] The four surround-view laser radars include one front surround-view laser radar, two side surround-view laser radars and one rear surround-view laser radar. The front surround-view laser radar is installed vertically in the center of the front of the vehicle, with the center point 0.8 meters from the ground; the side surround-view laser radars are installed vertically under the A-pillar of the vehicle close to the edges of the left and right front doors, with the center point 0.9 meters from the ground; the rear surround-view laser radar is installed vertically in the center of the rear of the vehicle, with the center point 0.6 meters from the ground.

[0062] The front wide-angle camera and the front telephoto camera are installed horizontally on the roof near the edge of the front windshield, with the center point 1.9 meters from the ground and the angle can be fine-tuned 5° up and down; the side front cameras are installed on the left and right at the top of the A-pillar of the vehicle, with the viewing angle forming an acute angle with the vehicle body, the center point 1.8 meters from the ground, and the angle can be fine-tuned 5° up and down; the two side rear-view cameras are installed on the left and right below the rearview mirror, with the viewing angle forming an acute angle with the vehicle body, the center point 0.9 meters from the ground, and the angle can be fine-tuned 5° left and right; the rear-view camera is installed horizontally on the tail fin of the vehicle, with the center point 1.9 meters from the ground, and the angle can be fine-tuned 5° left and right.

[0063] The four fisheye cameras include the front fisheye camera, the left / right fisheye camera and the rear fisheye camera. The front fisheye camera is installed horizontally in the center of the air intake grille, with the lower edge of the field of view at an angle of 10° to the body, the center point is 0.9 meters from the ground, and the angle can be fine-tuned up and down by 5°; the left / right fisheye camera is installed horizontally above the left / right front wheel, with the lower edge of the field of view at an angle of 10° to the body, the center point is 0.8 meters from the ground, and the angle can be fine-tuned up and down by 5°; the rear fisheye camera is installed horizontally above the license plate at the rear of the car, with the lower edge of the field of view at an angle of 10° to the body, the center point is 1.0 meters from the ground, and the angle can be fine-tuned up and down by 5°.

[0064] Since there are multiple sensors sharing one mounting point, in order to save space and reduce the viewing angle difference, the autonomous driving car in this embodiment is equipped with two integrated combination sensors. Among them, the side integrated combination sensor includes a fisheye camera, a surround-view laser radar and a side integrated sensor mounting structure; the side integrated combination sensor is installed under the left / right A-pillar of the vehicle through a rigid connection, close to the door. The integrated combination sensor installed on the roof near the midpoint of the windshield edge includes a forward-looking wide-angle camera, a forward-looking telephoto camera, a top-to-front laser radar and an integrated sensor mounting structure; since the field of view of the forward-looking telephoto camera is small, it is set in the middle of the structure.

[0065] Since the present autonomous driving device adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0066] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0068] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be understood as limitations on the present application.

[0069] In the present application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An integrated sensor bracket, characterized in that: include: A camera bracket, the camera bracket comprising a first fixing plate and a first connecting plate, one end of the first fixing plate being connected to one end of the first connecting plate; An integrated bracket, the integrated bracket comprising a crossbeam and an integrated plate, one end of the crossbeam being vertically connected to the integrated plate; A mounting base plate, the mounting base plate comprising a second fixing plate, the second fixing plate being connected to the integrated bracket; The integrated board is provided with positioning pins for fixing the sensor; The crossbeam is provided with a plurality of limiting holes, wherein the projection of the crossbeam on the integrated board is perpendicularly bisected by a line connecting the midpoint of the edge of the integrated board and the center of the positioning pin; The camera bracket is rigidly connected to the integrated bracket, and the integrated bracket is rigidly connected to the mounting base plate.

2. The integrated sensor bracket according to claim 1, characterized in that: The first fixing plate is provided with a camera limiting hole, the first connecting plate is provided with a positioning guide hole, and the first connecting plate is connected to the integrated bracket.

3. The integrated sensor bracket according to claim 2, characterized in that: The positioning guide hole is an arc-shaped long strip hole, and the value of the center angle of the positioning guide hole is within the angle range of 50° to 80°.

4. The integrated sensor bracket according to claim 1, characterized in that: Each mounting position on the integrated bracket is provided with at least two limiting holes for fixing the camera bracket and the sensor.

5. The integrated sensor bracket according to claim 1, characterized in that: The rigid connection includes a bolt and nut connection, a welding connection, a strong adhesive connection or a lap connection.

6. The integrated sensor bracket according to claim 1, characterized in that: The crossbeam is a rectangular sheet metal part, and the crossbeam and the integrated plate are integral structural parts or the crossbeam and the integrated plate are rigidly connected split structural parts.

7. The integrated sensor bracket according to claim 1, characterized in that: The plurality of limiting holes are arranged in a matrix, wherein the distances between at least two pairs of the limiting holes are equal.

8. The integrated sensor bracket according to claim 1, characterized in that: The integrated sensor bracket is made of aluminum alloy, magnesium alloy or titanium alloy.

9. A combined sensor, characterized in that: The combined sensor comprises: A plurality of sensors for acquiring environmental information, wherein the field of view angles of at least two of the plurality of sensors overlap or partially overlap; The multiple sensors include a camera and a laser radar, wherein the distance between the focus of the camera and the center of the laser emitter of the laser radar is less than a preset value; The multiple sensors include an inertial measurement unit, the center of the inertial measurement unit is collinear with the center of the laser radar in the horizontal direction, or the center of the inertial measurement unit is collinear with the center of the laser radar in the vertical direction; An integrated sensor bracket, used for integrating the multiple sensors; The multiple sensors are rigidly connected to the integrated sensor bracket.

10. An automatic driving device, characterized in that: include: An identification module, wherein the identification module includes a laser radar component, a camera component, a millimeter wave radar component or a real-time dynamic differential measurement system; A body, the body comprising a driving mechanism and a controller, the driving mechanism is used to drive the body to move, and the controller is electrically connected to the identification module; An integrated combined sensor comprises an integrated sensor bracket and a sensor, wherein the sensor is fixed on the integrated sensor bracket, and the integrated sensor bracket is mounted on the body.

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