Engineering vehicle and sensor assembly thereof

Abstract

The invention provides an engineering vehicle and a sensor assembly thereof, and the sensor assembly of the engineering vehicle comprises a mounting rack which is provided with a plurality of sensor mounting positions; the plurality of sensors are correspondingly and fixedly connected to the plurality of sensor mounting positions; and the protective cover is arranged on the mounting frame in a covering manner, and at least part of the sensor is covered by the protective cover. In the structure, the mounting precision of the plurality of sensors relative to the vehicle can be ensured as long as the machining precision of the mounting frame is ensured. And meanwhile, a plurality of sensors are integrally designed, so that unified maintenance and replacement are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicle driving, and particularly relates to an engineering vehicle and its sensor assembly. Background Art

[0002] In order to achieve autonomous driving of vehicles in fields such as engineering vehicles, passenger vehicles, and driverless vehicles, sensors for perception must be installed on them. Common sensors include lidar, cameras, millimeter-wave radars, ultrasonic radars, etc. Some vehicles do not have the function of autonomous driving by themselves and do not come with the above-mentioned sensors when leaving the factory. During the process of transforming their autonomous driving platforms, various sensors need to be installed on the vehicles to ensure obtaining appropriate perception data. In the prior art, various sensors of the vehicle are scattered and installed in various parts of the vehicle, with poor controllability of the installation accuracy, and are not easy to maintain and replace. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defects of poor controllability of the installation accuracy of the sensors of the driverless vehicle in the prior art and being not easy to maintain and replace, so as to provide an engineering vehicle and its sensor assembly.

[0004] To solve the above problems, the present invention provides a sensor assembly for an engineering vehicle, including: a mounting rack, on which a plurality of sensor mounting positions are provided; a plurality of sensors, fixedly connected to the plurality of sensor mounting positions correspondingly; a protective cover, covering the mounting rack, and the protective cover covers at least part of the sensors.

[0005] Optionally, the mounting rack includes a first mounting rack, which is adapted to be arranged at the top position of the engineering vehicle. The first mounting rack includes a cross beam and two longitudinal beams connected to the cross beam. The plurality of sensors include two positioning antennas, a 5G antenna, and a first camera. The two positioning antennas are respectively arranged at both ends of the cross beam, the 5G antenna is arranged at the connection of the cross beam and the longitudinal beam, and the first camera is arranged at the front side of the middle of the cross beam.

[0006] Optionally, the protective cover includes two first protective covers. One of the first protective covers covers the first end of the cross beam and the longitudinal beam on the same side, and the other first protective cover covers the second end of the cross beam and the longitudinal beam on the same side.

[0007] Optionally, the first mounting rack further includes a support frame, which is arranged on the cross beam and between the two longitudinal beams. A receiving cavity is arranged in the support frame. The plurality of sensors further include an inertial sensor, a first lidar, and a second lidar. The inertial sensor is arranged in the receiving cavity, the first lidar is arranged on the top of the support frame, and the second lidar is arranged at the front part of the support frame.

[0008] Optionally, the protective cover further includes a second protective cover which covers the outside of the support frame. An avoidance hole is provided at the top of the second protective cover, and a first avoidance opening is provided at the side of the second protective cover. The first lidar passes upward through the avoidance hole, and the first avoidance opening is correspondingly arranged with the first camera and the second lidar.

[0009] Optionally, the mounting bracket further includes a second mounting bracket which is adapted to be arranged at the rear side part of the engineering vehicle. The second mounting bracket includes a mounting beam. The plurality of sensors further includes a third lidar and a second camera. The third lidar is arranged at the top of the end of the mounting beam, and the second camera is arranged at the bottom of the end of the mounting beam.

[0010] Optionally, a connection plate is provided at the bottom of the end of the mounting beam. A plurality of first connection holes distributed circumferentially are provided on the connection plate. A second connection hole is provided on the second camera. The second camera further includes a fastener which passes through the first connection hole and the second connection hole to fix the relative positions of the second camera and the connection plate.

[0011] Optionally, the protective cover further includes a third protective cover and a fourth protective cover. The third protective cover covers the top of the third lidar. A second avoidance opening is provided on the fourth protective cover. The fourth protective cover covers the outside of the second camera, and the second avoidance opening is correspondingly arranged with the lens of the second camera.

[0012] This application also provides an engineering vehicle including the above-mentioned sensor assembly.

[0013] Optionally, the mounting bracket of the sensor assembly includes a first mounting bracket and a second mounting bracket. The first mounting bracket is arranged at the top position of the engineering vehicle. There are two second mounting brackets which are respectively arranged on both sides of the counterweight of the engineering vehicle.

[0014] Optionally, the engineering vehicle further includes a first mudguard and a second mudguard. The first mudguard is fixedly arranged on the vehicle body and is located outside the rear wheel. The second mudguard is detachably arranged on the vehicle body and is located above the rear wheel.

[0015] The present invention has the following advantages:

[0016] By using the technical solution of the present invention, a plurality of sensors are fixed on the plurality of sensor mounting positions of the mounting bracket, and the sensors are protected by the protective cover. In the above structure, as long as the machining accuracy of the mounting bracket is ensured, the mounting accuracy of the plurality of sensors relative to the vehicle can be ensured. At the same time, the integrated design of the plurality of sensors is convenient for unified maintenance and replacement. Therefore, the technical solution of the present invention solves the defects in the prior art that the controllability of the mounting accuracy of the sensors of the driverless vehicle is poor and it is not easy to maintain and replace. Description of the Drawings

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 The structural schematic diagram of the first mounting bracket, the first protective cover and the second protective cover of the sensor assembly according to the present invention is shown;

[0019] Figure 2 It shows Figure 1 The exploded schematic diagram of the sensor assembly in

[0020] Figure 3 It shows Figure 1 The structural schematic diagram of the first mounting bracket of the sensor assembly in after removing the first protective cover and the second protective cover;

[0021] Figure 4 It shows Figure 3 The structural schematic diagram of the lower side view of the rear part of the first mounting bracket in

[0022] Figure 5 It shows Figure 1 The structural schematic diagram of the first mounting bracket of the sensor assembly in

[0023] Figure 6 The structural schematic diagram of the second mounting bracket, the third protective cover and the fourth protective cover of the sensor assembly according to the present invention is shown;

[0024] Figure 7 It shows Figure 6 The assembly schematic diagram of the fourth protective cover of the sensor assembly in

[0025] Figure 8 It shows Figure 6 The structural schematic diagram of the bottom view of the sensor assembly in

[0026] Figure 9 The structural schematic diagram of the front view of the engineering vehicle according to the present invention is shown;

[0027] Figure 10 It shows Figure 9 The structural schematic diagram of the rear view of the engineering vehicle in

[0028] Explanation of reference numerals:

[0029] 10. Mounting frame; 11. First mounting frame; 111. Cross beam; 112. Longitudinal beam; 113. Support frame; 12. Second mounting frame; 13. Connecting plate; 1131. Accommodation cavity; 131. First connection hole; 20. Sensor; 21. Positioning antenna; 22. 5G antenna; 23. First camera; 24. Inertial sensor; 25. First lidar; 26. Second lidar; 27. Third lidar; 28. Second camera; 281. Second connection hole; 30. Protective cover; 31. First protective cover; 32. Second protective cover; 321. Avoidance hole; 322. First avoidance opening; 33. Third protective cover; 34. Fourth protective cover; 341. Second avoidance opening; 100. Counterweight; 200. First mudguard; 300. Second mudguard; 400. Sensor assembly. Detailed implementation manners

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mount", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0033] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0034] It should be noted that for the convenience of description, the following "front" and "rear" respectively refer to the directions facing the front side and the rear side of the engineering vehicle.

[0035] As Figures 1 to 8 shown, an embodiment of the sensor assembly of the construction vehicle according to the present application includes a mounting bracket 10, a plurality of sensors 20, and a protective cover 30. Among them, a plurality of sensor mounting positions are provided on the mounting bracket 10. The plurality of sensors 20 are fixedly connected to the plurality of sensor mounting positions correspondingly. The protective cover 30 covers the mounting bracket 10, and the protective cover 30 covers at least part of the sensors 20.

[0036] With the technical solution of this embodiment, the plurality of sensors 20 are fixed to the plurality of sensor mounting positions of the mounting bracket 10, and the sensors 20 are protected by the protective cover 30. In the above structure, as long as the machining accuracy of the mounting bracket 10 is ensured, the mounting accuracy of the plurality of sensors 20 relative to the vehicle can be ensured. At the same time, the integrated design of the plurality of sensors 20 facilitates unified maintenance and replacement. Therefore, the technical solution of this embodiment solves the defects of poor controllability of the sensor mounting accuracy of the existing driverless vehicle and difficulty in maintenance and replacement.

[0037] Further, the mounting bracket 10 is used to be fixed on the construction vehicle, and its fixed position can be the front part, the top part or the rear part, etc. of the construction vehicle. The plurality of sensors 20 are fixed to the sensor mounting positions of the mounting bracket 10, realizing the integrated mounting of the sensors 20. The protective cover 30 is used to protect the sensors 20. According to the different requirements of different sensors 20, only part of the sensors 20 can be shielded. For example, if some sensors 20 need to be exposed, the protective cover 30 can not shield these sensors 20.

[0038] In this embodiment, the protective cover 30 can protect the sensors 20 and improve the dust and water protection ability to a certain extent.

[0039] As Figures 1 to 5 shown, in the technical solution of this embodiment, the mounting bracket 10 includes a first mounting bracket 11. The first mounting bracket 11 is adapted to be disposed at the top position of the construction vehicle. The first mounting bracket 11 includes a cross beam 111 and two longitudinal beams 112 connected to the cross beam 111. The plurality of sensors 20 include two positioning antennas 21, a 5G antenna 22, and a first camera 23. The two positioning antennas 21 are respectively disposed at both ends of the cross beam 111. The 5G antenna 22 is disposed at the connection of the cross beam 111 and the longitudinal beam 112. The first camera 23 is disposed at the front side of the middle of the cross beam 111.

[0040] Specifically, the cross beam 111 and the two longitudinal beams 112 are formed by welding square steel pipes, so as to ensure the structural strength of the first mounting bracket 11. The length of the cross beam 111 is greater than the length of the longitudinal beam 112. The longitudinal beam 112 is perpendicular to the cross beam 111, and the two longitudinal beams 112 are spaced apart on the cross beam 111.

[0041] Furthermore, rubber buffer pads can be provided at the bottoms of the cross beam 111 and the longitudinal beam 112 to buffer the vibration of the engineering vehicle during driving, thereby reducing the impact of the vibration on the sensor 20.

[0042] As Figure 2 shown, the multiple sensors 20 include two positioning antennas 21, a 5G antenna 22 and a first camera 23. Among them, the two positioning antennas 21 are respectively arranged at both ends of the cross beam 111 and are located on the upper surface of the cross beam 111. The 5G antenna 22 is a domain controller 5G antenna, which is arranged at the intersection of the cross beam 111 and one of the longitudinal beams 112. Further, a mounting plate can be provided at the intersection of the cross beam 111 and one of the longitudinal beams 112, and the 5G antenna is arranged on the mounting plate, thereby increasing the mounting area of the 5G antenna 22. The first camera 23 is arranged in the middle of the cross beam 111 and is located on the front surface of the cross beam 111. From Figure 5 it can also be seen that a small section of square steel can be provided on the front surface of the middle part of the cross beam 111 to form a first camera mounting position. The square steel forms an opening in the forward direction, and the first camera 23 can be assembled into the square steel through the opening, thereby facilitating installation.

[0043] As Figure 1 and Figure 2 shown, in the technical solution of this embodiment, the protective cover 30 includes two first protective covers 31. One of the first protective covers 31 covers the first end of the cross beam 111 and the longitudinal beam 112 on the same side, and the other first protective cover 31 covers the second end of the cross beam 111 and the longitudinal beam 112 on the same side.

[0044] Specifically, the first protective cover 31 is generally in an L-shaped structure, which has a downward opening and can cover the corner of the cross beam 111 and the longitudinal beam 112. Taking Figure 1 and Figure 2 the shown direction as an example, the left and right first protective covers 31 are arranged symmetrically about the middle of the cross beam 111. The left first protective cover 31 covers the left end of the cross beam 111 and the outside of the longitudinal beam 112 on the left side, and the right first protective cover 31 covers the right end of the cross beam 111 and the outside of the longitudinal beam 112 on the right side. At the same time, the right first protective cover 31 also covers the 5G antenna.

[0045] Furthermore, the first protective cover 31 and the cross beam 111 and the longitudinal beam 112 can be connected by fasteners, so as to facilitate the disassembly of the first protective cover 31.

[0046] From Figure 1 it can also be seen that the left first protective cover 31 does not cover the left positioning antenna 21, and the right first protective cover 31 does not cover the right positioning antenna 21.

[0047] Preferably, the first protective cover 31 can be formed by sheet metal processing.

[0048] Furthermore, positioning structures such as positioning grooves and positioning blocks can be used between the first mounting bracket 11 and the first protective cover 31 to ensure the installation accuracy between the first mounting bracket 11 and the first protective cover.

[0049] As Figures 2 to 5 shown, in the technical solution of this embodiment, the first mounting bracket 11 further includes a support frame 113. The support frame 113 is disposed on the cross beam 111 and located between two longitudinal beams 112. An accommodation cavity 1131 is formed in the support frame 113. The plurality of sensors 20 further includes an inertial sensor 24 (IMU), a first lidar 25, and a second lidar 26. The inertial sensor 24 is disposed in the accommodation cavity 1131, the first lidar 25 is disposed on the top of the support frame 113, and the second lidar 26 is disposed at the front of the support frame 113.

[0050] Specifically, the support frame 113 is formed by welding low-carbon steel plates, thereby ensuring the structural strength of the support frame 113. The overall shape of the support frame 113 is generally a square structure. An accommodation cavity 1131 is formed in the support frame 113, and the accommodation cavity 1131 penetrates the front and rear surfaces of the support frame 113.

[0051] From Figures 3 to 5 it can be seen that the support frame 113 is connected to the cross beam 111 and is located between two longitudinal beams 112. From Figure 4 it can be seen that a support beam can be disposed between the two longitudinal beams 112. The support beam can provide support for the support frame 113 and increase the installation area of the support frame 113.

[0052] From Figure 2 and Figure 3 it can be seen that the inertial sensor 24 is disposed in the accommodation cavity 1131 and the inertial sensor 24 is fixed to the top wall of the accommodation cavity 1131.

[0053] From Figure 2 and Figure 3 it can be seen that the first lidar 25 has a cylindrical structure and is disposed on the upper surface of the support frame 113.

[0054] From Figure 2 and Figure 3 it can be seen that the second lidar 26 is disposed at the front position of the support frame 113. Furthermore, the second lidar 26 is mounted on a mounting plate. Vertical plates are provided at the rear and two sides of the mounting plate. An opening is formed at the front of the mounting plate. The bottom wall of the mounting plate is inclined downward in the forward direction. The vertical plate at the rear of the mounting plate can be connected to the front surface of the support frame 113 through fasteners. Furthermore, fromFigure 5 It can also be seen that a horizontal plate can be provided at the front part of the support frame 113, and the horizontal plate can increase the installation area of the vertical plate at the rear part of the mounting plate, thereby ensuring the support strength.

[0055] From Figure 2 and Figure 3 It can be seen that in the vertical direction, the second lidar 26 is located below the inertial sensor 24 and above the first camera 23.

[0056] Optionally, the above-mentioned first lidar 25 is a navigation lidar, and the above-mentioned second lidar 26 is a working mechanism detection lidar.

[0057] As shown in FIG. 2, in the technical solution of this embodiment, the protective cover 30 further includes a second protective cover 32. The second protective cover 32 covers the outside of the support frame 113. An avoidance hole 321 is provided at the top of the second protective cover 32, and a first avoidance opening 322 is provided at the side of the second protective cover 32. The first lidar 25 passes upward through the avoidance hole 321, and the first avoidance opening 322 is correspondingly arranged with the first camera 23 and the second lidar 26.

[0058] Specifically, the opening of the second protective cover 32 faces downward, and it can be formed by sheet metal processing. The lower part of the second protective cover 32 is of a square structure, and the upper part is of a frustum of a cone structure. The second protective cover 32 covers the outside of the first camera 23, the second lidar 26 and the inertial sensor 24 from top to bottom. And the second protective cover 32 is located between the two first protective covers 31.

[0059] From Figure 1 and Figure 2 It can be seen that a first avoidance opening 322 is provided at the front side of the lower part of the second protective cover 32, and an avoidance hole 321 is provided at the top. Among them, the width of the upper part of the first avoidance opening 322 is greater than that of the lower part, so the first avoidance opening 322 is generally in a "T" shape. And the lower end of the first avoidance opening 322 penetrates through the lower edge of the second protective cover 32, thereby facilitating the processing of the first avoidance opening 322.

[0060] From Figure 1 It can be seen that the lower part of the first avoidance opening 322 corresponds to the position of the first camera 23, and the upper part of the first avoidance opening 322 corresponds to the position of the second lidar 26.

[0061] From Figure 1 and Figure 2 It can be seen that when the second protective cover 32 covers the first mounting frame 11 from top to bottom, the first lidar 25 passes through the avoidance hole 321 from bottom to top, so that the first lidar 25 is exposed outside the second protective cover 32.

[0062] As Figures 6 to 8As shown, in the technical solution of this embodiment, the mounting bracket 10 further includes a second mounting bracket 12, and the second mounting bracket 12 is adapted to be disposed at the rear side of the engineering vehicle. The second mounting bracket 12 includes a mounting beam, and the plurality of sensors 20 further includes a third lidar 27 and a second camera 28. The third lidar 27 is disposed on the top of the end of the mounting beam, and the second camera 28 is disposed on the bottom of the end of the mounting beam.

[0063] Specifically, the mounting beam can be a square steel structure, and the mounting beam can be connected to the rear side of the engineering vehicle by bolts or welding. Further, when welding is used to connect the mounting beam, a plurality of reinforcing ribs can be provided on the mounting beam to enhance the welding strength of the mounting beam.

[0064] From Figure 6 It can be seen that the third lidar 27 is disposed on the upper surface of the end of the mounting beam. Optionally, the third lidar 27 can be a navigation lidar and has a cylindrical structure. A circular tray can be provided on the upper surface of the end of the mounting beam, and the lower surface of the third lidar 27 is fixed on the circular tray, which is convenient for installation.

[0065] As Figure 6 and Figure 8 As shown, in the technical solution of this embodiment, a connection plate 13 is provided at the bottom of the end of the mounting beam. A plurality of first connection holes 131 distributed circumferentially are provided on the connection plate 13, and a second connection hole 281 is provided on the second camera 28. The second camera 28 further includes a fastener (such as a bolt, etc.), and the fastener passes through the first connection hole 131 and the second connection hole 281 to fix the relative positions of the second camera 28 and the connection plate 13.

[0066] Specifically, the connection plate 13 is a disc structure, and the plurality of first connection holes 131 are arranged at intervals along the circumference of the connection plate 13. By aligning the second connection hole 281 on the second camera 28 with the first connection holes 131 at different positions and then assembling the fasteners, the second camera 28 can be fixed at different positions on the connection plate 13.

[0067] Preferably, there are two second connection holes 281 on the second camera 28. That is, at a certain installation position, the two second connection holes 281 are respectively aligned with the corresponding two first connection holes 131, and then two fasteners are respectively assembled, so that the second camera 28 is installed more stably.

[0068] Further, multiple second cameras 28 can be arranged on the connection plate 13. In this embodiment, two second cameras 28 are arranged on the connection plate 13, and the installation angle between them is 90°. One of the second cameras 28 faces the side and captures the rear side position of the construction vehicle, and the other second camera 28 faces the rear and captures the rear position of the construction vehicle.

[0069] Certainly, by adjusting the installation positions of the two second cameras 28 in the first connection holes 131 on the connection plate 13, the installation positions of the two second cameras 28 and the angle formed between them can be adjusted.

[0070] As Figure 6 and Figure 7 shown, in the technical solution of this embodiment, the protective cover 30 further includes a third protective cover 33 and a fourth protective cover 34. The third protective cover 33 covers the top of the third lidar 27. The fourth protective cover 34 is provided with a second avoidance opening 341. The fourth protective cover 34 covers the outside of the second camera 28, and the second avoidance opening 341 is correspondingly arranged with the lens of the second camera 28.

[0071] Specifically, the third protective cover 33 includes a cover and a cantilever. One end of the cantilever is connected to the installation beam, and the other end extends upward. The cover is connected to the other end of the cantilever, and the cover covers the upper surface of the third lidar 27. This makes the circumferential side surface of the third lidar 27 in an exposed state.

[0072] Further, the fourth protective cover 34 includes a bottom shell and an upper cover. The bottom shell has an upward opening, and the shape of the bottom shell is adapted to the installation positions of the two second cameras 28. For example, in this embodiment, the two second cameras 28 are installed at a right angle, so the bottom shell has an "L" - shaped structure. During assembly, the bottom shell covers the lower part of the second camera 28 from bottom to top, and then the upper cover is installed on the upward opening of the bottom shell through fasteners, so that the fourth protective cover 34 is fixed on the second camera 28.

[0073] As Figure 9 and Figure 10 shown, the present application also provides a construction vehicle. The construction vehicle according to the embodiment of the present application includes the above - mentioned sensor assembly 400.

[0074] Further, the mounting bracket 10 of the sensor assembly 400 includes the above - mentioned first mounting bracket 11 and second mounting bracket 12. The first mounting bracket 11 is arranged at the top position of the construction vehicle. There are two second mounting brackets 12, and the two second mounting brackets 12 are respectively arranged on both sides of the counterweight 100 of the construction vehicle.

[0075] Preferably, the second mounting bracket 12 is disposed on the counterweight of the engineering vehicle, and the two second mounting brackets 12 are respectively disposed at both ends of the counterweight.

[0076] As Figure 9 and Figure 10 shown, in the technical solution of this embodiment, the engineering vehicle further includes a first mudguard 200 and a second mudguard 300. The first mudguard 200 is fixedly disposed on the vehicle body and located outside the rear wheels, and the second mudguard 300 is detachably disposed on the vehicle body and located above the rear wheels.

[0077] Specifically, the first mudguard 200 and the second mudguard 300 can prevent mud from splashing onto the sensor 20 during the operation of the engineering vehicle. The first mudguard 200 is a fixed structure, and the second mudguard 300 is a detachable and installable structure. When the second mudguard 300 is removed, the rear electrical maintenance door of the engineering vehicle can be used normally. A rubber soft mudguard can be optionally installed on the lower side of the first mudguard 200 to further increase the mud-guarding range.

[0078] Furthermore, the first mudguard 200 is fixed to the vehicle body of the engineering vehicle by welding, and the second mudguard 300 is installed on the fixed base by bolts. The second mudguard 300 has reinforcing ribs, which can ensure that the second mudguard 300 has strong structural strength even when the material thickness is relatively thin and light. The reinforcing ribs are disposed on the outer side of the second mudguard 300, and the inner surface of the second mudguard 300 is relatively smooth, which can reduce the residue of water and sludge. Further, there are hydrophobic holes at the reinforcing ribs to avoid water accumulation on the outer side of the second mudguard 300.

[0079] Optionally, the construction machinery can be a loader, an excavator, a truck, etc.

[0080] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A sensor assembly for an engineering vehicle, characterized in that, Including: A mounting bracket (10), on which a plurality of sensor mounting positions are provided; A plurality of sensors (20), fixedly connected to the plurality of sensor mounting positions correspondingly; A protective cover (30), covering the mounting bracket (10), and the protective cover (30) covering at least part of the sensors (20).

2. The sensor assembly according to claim 1, wherein, The mounting bracket (10) includes a first mounting bracket (11), the first mounting bracket (11) being adapted to be arranged at the top position of an engineering vehicle. The first mounting bracket (11) includes a cross beam (111) and two longitudinal beams (112) connected to the cross beam (111). The plurality of sensors (20) includes two positioning antennas (21), a 5G antenna (22), and a first camera (23). The two positioning antennas (21) are respectively arranged at both ends of the cross beam (111), the 5G antenna (22) is arranged at the connection position of the cross beam (111) and the longitudinal beam (112), and the first camera (23) is arranged at the front side of the middle of the cross beam (111).

3. The sensor assembly according to claim 2, wherein The protective cover (30) includes two first protective covers (31). One of the first protective covers (31) covers the first end of the cross beam (111) and the longitudinal beam (112) on the same side, and the other first protective cover (31) covers the second end of the cross beam (111) and the longitudinal beam (112) on the same side.

4. The sensor assembly according to claim 2, characterized in that, The first mounting bracket (11) further includes a support frame (113). The support frame (113) is arranged on the cross beam (111) and between the two longitudinal beams (112). A receiving cavity (1131) is arranged in the support frame (113). The plurality of sensors (20) further includes an inertial sensor (24), a first lidar (25), and a second lidar (26). The inertial sensor (24) is arranged in the receiving cavity (1131), the first lidar (25) is arranged on the top of the support frame (113), and the second lidar (26) is arranged at the front part of the support frame (113).

5. The sensor assembly according to claim 4, wherein The protective cover (30) further includes a second protective cover (32). The second protective cover (32) covers the outside of the support frame (113). An avoidance hole (321) is arranged at the top of the second protective cover (32), and a first avoidance opening (322) is arranged at the side part of the second protective cover (32). The first lidar (25) passes upward through the avoidance hole (321), and the first avoidance opening (322) is correspondingly arranged with the first camera (23) and the second lidar (26).

6. The sensor assembly according to any one of claims 1 to 5, characterized in that, The mounting bracket (10) further includes a second mounting bracket (12), the second mounting bracket (12) is adapted to be arranged at the rear side of the engineering vehicle, the second mounting bracket (12) includes a mounting beam, and a plurality of the sensors (20) further include a third lidar (27) and a second camera (28), the third lidar (27) is arranged at the top of the end of the mounting beam, and the second camera (28) is arranged at the bottom of the end of the mounting beam.

7. The sensor assembly according to claim 6, characterized in that, A connecting plate (13) is arranged at the bottom of the end of the mounting beam, a plurality of first connecting holes (131) distributed circumferentially are arranged on the connecting plate (13), a second connecting hole (281) is arranged on the second camera (28), and the second camera (28) further includes a fastener, and the fastener is inserted into the first connecting hole (131) and the second connecting hole (281) to fix the relative positions of the second camera (28) and the connecting plate (13).

8. The sensor assembly according to claim 6, wherein The protective cover (30) further includes a third protective cover (33) and a fourth protective cover (34), the third protective cover (33) covers the top of the third lidar (27), a second avoidance opening (341) is arranged on the fourth protective cover (34), the fourth protective cover (34) covers the outside of the second camera (28), and the second avoidance opening (341) is arranged corresponding to the lens of the second camera (28).

9. An engineering vehicle, characterized in that, It includes the sensor assembly (400) according to any one of claims 1 to 8.

10. The construction vehicle according to claim 9, characterized in that, The mounting bracket (10) of the sensor assembly (400) includes a first mounting bracket (11) and a second mounting bracket (12), the first mounting bracket (11) is arranged at the top position of the engineering vehicle, and there are two second mounting brackets (12), and the two second mounting brackets (12) are respectively arranged on both sides of the counterweight (100) of the engineering vehicle.

11. The construction vehicle according to claim 10, characterized in that, The engineering vehicle further includes a first mudguard (200) and a second mudguard (300), the first mudguard (200) is fixedly arranged on the vehicle body and is located outside the rear wheel, and the second mudguard (300) is detachably arranged on the vehicle body and is located above the rear wheel.

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