Whole vehicle unmanned driving integrated control and support fixing system

Abstract

The application discloses a whole vehicle unmanned integrated control and support fixing system, which comprises an integrated electric control cabinet, an unmanned support assembly and a hidden wire harness; the integrated electric control cabinet comprises a cabinet body, and the inside of the cabinet body is divided into an upper unmanned electric appliance area and a lower manned electric appliance area by a partition plate; the unmanned support assembly comprises an antenna support fixed to the top of a cab and an A column, a front millimeter wave radar assembly fixed to a front bumper, and a camera and a radar support assembly fixed to left and right A columns; the hidden wire harness is laid in a wire groove inside the cab and is connected with the integrated electric control cabinet and each sensing hardware. By dividing the inside of the cabinet body into two layers, physical integration of manned and unmanned electric appliances is realized, the problem of crowded space in the cab is solved, and the space utilization is greatly improved. The antenna support adopts a truss structure of an A-shaped support matched with an auxiliary support beam, so that stress concentration under braking and steering conditions is obviously reduced.

Description

Technical Field

[0001] This invention relates to the field of mining engineering machinery manufacturing technology, and in particular to an integrated control and support fixing system for unmanned driving of a complete vehicle. Background Technology

[0002] With the advancement of green mining construction, mining trucks are transitioning from traditional manned to autonomous driving. Current technology typically modifies existing manned models, resulting in the following significant drawbacks: Fragmented spatial layout: The electrical cabinets for manned and autonomous driving are independent and dispersed within the limited space of the cab, leading to messy and exposed wiring harnesses. Maintenance and debugging require the removal of numerous obstructions, making operation extremely inconvenient. Insufficient support strength: The antennas required for autonomous driving need to be positioned higher than the cargo box. Traditional support arms are too long and lack structural optimization. Under heavy-load braking or sharp turns, the cab roof and A-pillars bear enormous bending moments, posing a risk of breakage. Lack of hardware protection: External cameras, radar, and other precision sensing hardware lack effective protection, making them highly susceptible to damage from falling rocks and flying ore. Ineffective heat dissipation and temperature control: The control cabinets lack targeted heat dissipation design, resulting in extremely high ambient temperatures in the mining truck cab, causing frequent overheating and shutdowns of electrical components. Redundant material types: The independent design of various sensor brackets results in a large number of parts, complex assembly processes, and high management costs. Summary of the Invention

[0003] In view of this, the present invention provides an integrated control and support fixing system for unmanned vehicle driving, which solves the problems of low space utilization, insufficient structural strength, poor protection and maintenance difficulties in the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An integrated control and support system for autonomous driving of a vehicle includes: an integrated electrical control cabinet, an autonomous driving support assembly, and a concealed wiring harness; the integrated electrical control cabinet includes a cabinet body, the interior of which is divided into an upper autonomous driving electrical area and a lower manned driving electrical area by a partition; the autonomous driving support assembly includes an antenna bracket fixed to the top of the cab and the A-pillar, a front millimeter-wave radar assembly fixed to the front bumper, and a camera and radar bracket assembly fixed to the left and right A-pillars; the concealed wiring harness is laid in a cable tray inside the cab and connects the integrated electrical control cabinet to each sensing hardware.

[0005] Preferably, the integrated electrical control cabinet further includes a heat dissipation structure; the heat dissipation structure includes an air vent on the front door of the cabinet, a cooling fan installed at the rear of the cabinet, and an indoor wired air conditioner connected to the cabinet; the bottom of the cabinet is also provided with a fixing reinforcing rib for connecting to the cab floor.

[0006] Preferably, the top cover of the cabinet is connected by a hinge and has a folding opening structure; the front baffle of the cabinet is detachably connected to the cabinet by a wing nut.

[0007] Preferably, the antenna bracket includes two A-type brackets on the left and right and at least two auxiliary support beams; the A-type brackets are respectively fixed to the top reinforcing ribs of the cab and the A-pillar frame, and the auxiliary support beams are connected between the two A-type brackets; the top of the antenna bracket is fixed with a CPE antenna, an OBU antenna and a tri-color light bracket, and the height of the CPE antenna and the OBU antenna is higher than the cargo box hood.

[0008] Preferably, the front millimeter-wave radar assembly includes three millimeter-wave radars and one lidar; the three millimeter-wave radars are arranged laterally and fixed to the front bumper, and the outer periphery of the millimeter-wave radars is covered with a rubber shield; the lidar is fixed to the upper side of the millimeter-wave radars, and the outer periphery of the lidar is equipped with a protective shield.

[0009] Preferably, the camera and radar bracket assembly includes a radar bracket, a shockproof plate, and a camera bracket; the radar bracket is fixedly connected to the A-pillars through inner reinforcing plates added by drilling holes in the left and right A-pillars; the lidar is bolted to the radar bracket, and the shockproof plate covers the lidar; the camera is fixed to the radar bracket through the camera bracket, and a radar protective plate is provided on the outside of the camera.

[0010] Preferably, the vehicle autonomous driving integrated control and bracket fixing system further includes: left and right tire light brackets; the left and right tire light brackets are fixed on the power battery frame, and the left and right tire light brackets are integrated with mounting positions for installing 360 reversing image cameras.

[0011] Preferably, the concealed wiring harness passes through a through hole in the cab floor to enter the cab interior and is housed in the wiring trough; the concealed wiring harness is laid along the interior of the front bulkhead to the front millimeter-wave radar assembly, camera and radar bracket assembly and antenna bracket.

[0012] Preferably, the vehicle autonomous driving integrated control and bracket fixing system further includes: a front camera fixing assembly; the front camera fixing assembly includes a front sealing plate, a reinforcing plate, a protective plate, and an inspection hole; the front sealing plate is fixed to the front sun visor of the cab roof by the reinforcing plate, and the protective plate is fixed to the front sealing plate; the camera is mounted on the protective plate by a camera fixing bracket, and the inspection hole is provided on the left and right sides of the protective plate, and a detachable sealing plate is provided at the inspection hole.

[0013] Preferably, the vehicle autonomous driving integrated control and bracket fixing system further includes: a rear taillight radar bracket; the rear taillight radar bracket is fixed to the rear taillight mounting plate, and the rear taillight radar bracket integrates a lidar mounting position and a lidar cover; the lidar cover is connected to the rear taillight radar bracket via a portable latch.

[0014] The beneficial effects of the invention are: This application achieves physical integration of manned and unmanned driving electrical components by dividing the interior of the cabinet into upper and lower layers, solving the problem of cramped cab space, and the wiring harness layout is neat, greatly improving space utilization.

[0015] The antenna bracket of this application adopts a truss structure with an A-type bracket and an auxiliary support beam, and has been optimized by CAE, which significantly reduces stress concentration under braking and steering conditions and avoids the risk of deformation or tearing of the cab roof.

[0016] The folding top cover and wing nut design of this application allow the electrical control cabinet to be opened quickly without special tools. Combined with the radar cover with a portable lock, it significantly reduces the maintenance time at the mine site. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of the integrated electrical control cabinet (external) of the present invention; Figure 2 This is a schematic diagram of the internal structure of the integrated electrical control cabinet of the present invention; Figure 3 This is a structural schematic diagram of the unmanned driving support assembly of the present invention; Figure 4 This is a schematic diagram of the front millimeter-wave radar assembly of the present invention; Figure 5 This is a schematic diagram of the camera and radar bracket assembly of the present invention; Figure 6 This is a schematic diagram of the structure of the left and right tire light brackets of the present invention; Figure 7 This is a schematic diagram of the structure of the tri-color lamp holder of the present invention; Figure 8 This is a schematic diagram of the antenna support structure of the present invention; Figure 9 This is a schematic diagram of the front camera fixing assembly of the present invention; Figure 10 This is a schematic diagram of the wire harness arrangement of the present invention; Figure 11 This is a structural schematic diagram of the rear taillight radar bracket of the present invention. Explanation of reference numerals in the attached figures

[0018] 1. Integrated electrical control cabinet; 11. Cabinet body; 12. Unmanned electrical control area; 13. Manned electrical control area; 14. Cooling fan; 21. Antenna bracket; 22. Front millimeter-wave radar assembly; 23. Camera and radar bracket assembly; 24. Tri-color light bracket; 25. Rubber cover; 26. Protective cover; 211. A-type bracket; 212. Auxiliary support beam; 231. Radar bracket; 232. Anti-smashing plate; 233. Camera bracket; 234. Radar protective plate; 3. Concealed wiring harness; 4. Left and right tire light brackets; 41. 360° reversing camera; 5. Front camera mounting assembly; 51. Protective plate; 6. Rear taillight radar bracket; 61. LiDAR mounting position; 62. LiDAR cover; 63. Portable latch. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] The following is for reference. Figures 1 to 11 This invention describes an integrated control and bracket fixing system for autonomous driving of a vehicle in an embodiment of the present invention.

[0022] This application discloses an integrated control and bracket fixing system for autonomous driving of a vehicle, including: an integrated electronic control cabinet 1, an autonomous driving bracket assembly, and a hidden wiring harness 3; the integrated electronic control cabinet 1 includes a cabinet body 11, the interior of which is divided into an upper autonomous driving electrical area 12 and a lower manned driving electrical area 13 by a partition; the autonomous driving bracket assembly includes an antenna bracket 21 fixed to the top of the cab and the A-pillar, a front millimeter-wave radar assembly 22 fixed to the front bumper, and a camera and radar bracket assembly 23 fixed to the left and right A-pillars; the hidden wiring harness 3 is laid in a wire channel inside the cab and connects the integrated electronic control cabinet 1 to each sensing hardware.

[0023] Specifically, the integrated electrical control cabinet 1, serving as the core control unit, is installed on the cab floor. The autonomous driving support components are distributed around the vehicle body and are used to mount sensing devices. A concealed wiring harness 3 connects the two, forming a closed-loop control system. Compared to traditional retrofitting solutions, this embodiment eliminates layout conflicts between the original vehicle electrical systems and the newly added autonomous driving equipment through structural integration, achieving integrated fusion of the entire vehicle's electrical system.

[0024] In some embodiments, for example Figure 2 As shown, the integrated electrical control cabinet 1 also includes a heat dissipation structure; the heat dissipation structure includes an air vent on the front door of the cabinet 11, a cooling fan 14 installed at the rear of the cabinet 11, and an indoor wired air conditioner connected to the cabinet 11; the bottom of the cabinet 11 is also provided with a fixing reinforcing rib for connecting to the cab floor.

[0025] Specifically, the integrated electrical control cabinet 1's cabinet body 11 is made of high-strength steel plate. The interior is clearly divided into zones by horizontal partitions: the upper unmanned electrical zone 12 houses the autonomous driving computing unit, while the lower manned electrical zone 13 retains the original vehicle's fuse box and relays. Bottom-fixed reinforcing ribs are bolted to the cab floor's embedded parts to ensure the cabinet body 11 does not shift during severe vibrations of the mining truck. The heat dissipation structure includes vents for natural convection, a cooling fan 14 for forced ventilation, and an indoor wired air conditioner as an active temperature control source. These three components work together to solve the problem of performance degradation of electrical components caused by high-temperature environments.

[0026] In some embodiments, for example Figure 1 and Figure 2 As shown, the top cover of cabinet 11 is connected by a hinge and has a folding opening structure; the front baffle of cabinet 11 is detachably connected to cabinet 11 by a wing nut. Specifically, considering the harsh maintenance environment of mining trucks and the inconvenience of carrying tools, cabinet 11 adopts a tool-free opening design. The top cover achieves folding opening through a heavy-duty hinge. The front baffle is locked with a wing nut, allowing maintenance personnel to loosen the nut and remove the baffle by hand, quickly accessing the lower electrical area. This structure significantly shortens the time for a single routine maintenance and significantly improves vehicle uptime.

[0027] In some embodiments, for example Figure 8 As shown, the antenna bracket 21 includes two A-type brackets 211 on the left and right and at least two auxiliary support beams 212; the A-type brackets 211 are fixed to the top reinforcing ribs of the cab and the A-pillar frame respectively, and the auxiliary support beams 212 are connected between the two A-type brackets 211; the top of the antenna bracket 21 is fixed with a CPE antenna, an OBU antenna and a tri-color light bracket 24, and the height of the CPE antenna and the OBU antenna is higher than the cargo box hood.

[0028] Specifically, the left and right A-type brackets 211 are anchored to the top reinforcing ribs of the cab and the A-pillar frame, respectively. The auxiliary support beam 212 in the middle forms a triangular stabilizing structure to counteract the huge lever moment generated by the antenna being higher than the cargo box. Through CAE topology optimization, excess material was removed while ensuring structural rigidity, achieving lightweighting and preventing irreversible plastic deformation of the cab roof.

[0029] In some embodiments, for example Figure 4 As shown, the front millimeter-wave radar assembly 22 includes three millimeter-wave radars and one lidar; the three millimeter-wave radars are arranged laterally and fixed to the front bumper, and the outer periphery of the millimeter-wave radars is covered with a rubber shield 25; the lidar is fixed to the upper side of the millimeter-wave radars, and the outer periphery of the lidar is equipped with a protective shield 26.

[0030] Specifically, three millimeter-wave radars are arranged horizontally to achieve wide field-of-view coverage. A rubber shroud 25 tightly covers the radar body; its material is carefully selected for its excellent wave transmittance, ensuring that it does not affect the transmission and reception of millimeter-wave signals while also buffering the impact of ore collisions. The upper lidar is equipped with a protective shroud 26, effectively preventing rainwater and mud slurry from contaminating the lens.

[0031] In some embodiments, for example Figure 5 As shown, the camera and radar bracket assembly 23 includes a radar bracket 231, a shockproof plate 232, and a camera bracket 233. The radar bracket 231 is fixedly connected to the A-pillars through the inner reinforcing plates added by the holes in the left and right A-pillars. The lidar is bolted to the radar bracket 231, and the shockproof plate 232 covers the lidar. The camera is fixed to the radar bracket 231 through the camera bracket 233, and a radar protection plate 234 is provided on the outside of the camera.

[0032] Specifically, since the A-pillars are thin-walled sheet metal and cannot directly bear the weight of the equipment, the radar bracket 231 in this embodiment is reinforced by inserting inner reinforcing plates through holes in the left and right A-pillars. The anti-smashing plate 232 covering the lidar extends forward to form an eaves-like protection to prevent falling rocks from directly impacting the radar. The radar protective plate 234 on the outside of the camera can adopt a mesh design, which ensures protection while also taking into account heat dissipation and light transmission requirements.

[0033] In some embodiments, the vehicle autonomous driving integrated control and bracket fixing system further includes: left and right tire light brackets 4; the left and right tire light brackets 4 are fixed on the power battery frame, and the left and right tire light brackets 4 are integrated with mounting positions for mounting 360 reversing image cameras 41.

[0034] Specifically, the mounting position for the 360° reversing camera 41 is integrally formed on the bracket body. The bracket is simultaneously fixed to the power battery frame by a set of bolts, thus simultaneously completing the lighting function of the tire lights and the monitoring function of the camera, reducing the types of parts in inventory and simplifying the operation process for assembly workers.

[0035] In some embodiments, for example Figure 10 As shown, the concealed wiring harness 3 passes through the through hole in the cab floor and enters the cab interior, and is housed in the wiring trough; the concealed wiring harness 3 is laid along the interior of the front bulkhead to the front millimeter-wave radar assembly 22, the camera and radar bracket assembly 23 and the antenna bracket 21.

[0036] Specifically, to prevent the wiring harness from being scratched or crushed by ore, this embodiment employs fully concealed wiring. After being led out from the electrical control cabinet, the wiring harness enters the vehicle through pre-drilled holes in the cab floor and is concealed entirely within a dedicated wiring trough, avoiding contact with sharp edges of the vehicle body. It is then laid along the interior of the front bulkhead to each sensing hardware, avoiding the wear and tear risks associated with exposed wiring harnesses and improving the anti-interference capability and durability of the electrical system.

[0037] In some embodiments, for example Figure 9 As shown, the vehicle autonomous driving integrated control and bracket fixing system also includes: a front camera fixing assembly 5; the front camera fixing assembly 5 includes a front sealing plate, a reinforcing plate, a protective plate 51 and inspection holes; the front sealing plate is fixed to the front sun visor of the cab roof by the reinforcing plate, and the protective plate 51 is fixed to the front sealing plate; the camera is mounted on the protective plate 51 by a camera fixing bracket, and inspection holes are provided on the left and right sides of the protective plate 51, with a removable sealing plate at the inspection hole.

[0038] Specifically, the front camera mounting assembly 5 is located at the front edge of the cab roof. The front sealing plate and reinforcing plate form the main load-bearing frame, which is fixed to the sun visor frame. The protective plate 51 provides a physical barrier. Specially designed access holes are located on both sides of the protective plate 51, allowing maintenance personnel to insert their fingers for operation, facilitating adjustment of the camera's focus. After adjustment, the access holes are sealed with the sealing plate, providing dust and water protection and extending the camera's service life.

[0039] In some embodiments, for example Figure 11 As shown, the vehicle autonomous driving integrated control and bracket fixing system also includes: a rear taillight radar bracket 6; the rear taillight radar bracket 6 is fixed to the rear taillight mounting plate, and the rear taillight radar bracket 6 integrates a lidar mounting position 61 and a lidar cover 62; the lidar cover 62 is connected to the rear taillight radar bracket 6 via a portable latch 63.

[0040] Specifically, the rear taillight radar bracket 6 is installed at the rear of the vehicle. Considering that the rear radar is easily damaged during reversing operations, the lidar cover 62 is connected to the bracket body using a portable latch 63. When the lidar needs to be replaced or calibrated, there is no need to remove the bolts; simply open the latch to quickly remove the lidar cover 62, significantly shortening maintenance time and making it very suitable for the fast-paced working environment of the mining area.

[0041] Other components and operations of the vehicle autonomous driving integrated control and bracket fixing system according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0043] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle autonomous driving integrated control and bracket fixing system, characterized in that, include: Integrated electrical control cabinet, unmanned driving support assembly, and concealed wiring harness; The integrated electrical control cabinet includes a cabinet body, the interior of which is divided into an upper unmanned electrical area and a lower manned electrical area by a partition; the unmanned support assembly includes an antenna bracket fixed to the top of the cab and the A-pillar, a front millimeter-wave radar assembly fixed to the front bumper, and a camera and radar bracket assembly fixed to the left and right A-pillars; the concealed wiring harness is laid in the cable tray inside the cab and connects the integrated electrical control cabinet to each sensing hardware.

2. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 1, characterized in that, The integrated electrical control cabinet also includes a heat dissipation structure; the heat dissipation structure includes an air vent on the front door of the cabinet, a cooling fan installed at the rear of the cabinet, and an indoor wired air conditioner connected to the cabinet; the bottom of the cabinet is also provided with a fixing reinforcing rib for connecting to the cab floor.

3. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 2, characterized in that, The cabinet's top cover is hinged and has a folding opening structure; the front panel of the cabinet is detachably connected to the cabinet via a wing nut.

4. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 1, characterized in that, The antenna bracket includes two A-type brackets on the left and right and at least two auxiliary support beams; the A-type brackets are respectively fixed to the top reinforcing ribs of the cab and the A-pillar frame, and the auxiliary support beams are connected between the two A-type brackets; the top of the antenna bracket is fixed with a CPE antenna, an OBU antenna and a tri-color light bracket, and the height of the CPE antenna and the OBU antenna is higher than the cargo box hood.

5. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 1, characterized in that, The front millimeter-wave radar assembly includes three millimeter-wave radars and one lidar; the three millimeter-wave radars are arranged laterally and fixed to the front bumper, and the outer periphery of the millimeter-wave radars is covered with a rubber shield; the lidar is fixed to the upper side of the millimeter-wave radars, and the outer periphery of the lidar is equipped with a protective shield.

6. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 1, characterized in that, The camera and radar bracket assembly includes a radar bracket, a shockproof plate, and a camera bracket; the radar bracket is fixedly connected to the A-pillars through inner reinforcing plates added by drilling holes in the left and right A-pillars; the lidar is bolted to the radar bracket, and the shockproof plate covers the lidar; the camera is fixed to the radar bracket through the camera bracket, and a radar protective plate is provided on the outside of the camera.

7. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 1, characterized in that, Also includes: Left and right tire light brackets; the left and right tire light brackets are fixed on the power battery frame, and the left and right tire light brackets are integrated with mounting positions for installing 360 reversing camera.

8. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 1, characterized in that, The concealed wiring harness passes through a through hole in the cab floor panel and enters the cab interior, where it is housed in the wiring trough. The concealed wiring harness is laid along the interior of the front bulkhead to the front millimeter-wave radar assembly, camera and radar bracket assembly, and antenna bracket.

9. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 1, characterized in that, Also includes: A front camera mounting assembly; the front camera mounting assembly includes a front sealing plate, a reinforcing plate, a protective plate, and an inspection hole; the front sealing plate is fixed to the front sun visor of the cab roof via the reinforcing plate, and the protective plate is fixed to the front sealing plate; the camera is mounted on the protective plate via a camera mounting bracket, and the inspection hole is provided on both the left and right sides of the protective plate, with a removable sealing plate at each inspection hole.

10. The integrated control and bracket fixing system for unmanned vehicle driving according to claim 1, characterized in that, Also includes: Rear taillight radar bracket; the rear taillight radar bracket is fixed to the rear taillight mounting plate, and the rear taillight radar bracket integrates a lidar mounting position and a lidar cover; the lidar cover is connected to the rear taillight radar bracket by a portable buckle.

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