Vehicle-mounted environment sensing system

Abstract

The utility model belongs to the field of sensor sensing, and relates to a vehicle-mounted environment sensing system which comprises a system mounting bottom plate, a visual sensing unit and a radar sensing unit. The visual perception unit is arranged on the system installation bottom plate, and the radar perception unit is fixedly connected to one side of the recognition perception unit. The radar sensing unit comprises a motor mounting seat, a driving motor, a rotating shaft, a radar mounting bottom plate and a laser radar; the motor mounting base is fixedly connected to the visual perception unit, the rotating shaft is arranged on the radar mounting bottom plate, an output shaft of the driving motor penetrates through a hole of the motor mounting base and is coaxially connected with the rotating shaft, and the laser radar is fixedly connected to the radar mounting bottom plate. When radar monitoring is carried out, the driving motor is controlled to work, the radar mounting bottom plate and the laser radar are driven to rotate through the rotating shaft, and the monitoring angle of the laser radar is adjusted, so that large-angle environment monitoring can be realized with a relatively small space structure, the space is effectively saved, and the monitoring efficiency and the management convenience are improved.

Description

Technical Field

[0001] The present application relates to the field of sensor perception, and in particular to a vehicle-mounted environment perception system. Background Art

[0002] The vehicle-mounted environmental perception system uses on-board sensors and vehicle networking technology to obtain information such as roads, vehicle locations, obstacles, and the vehicle's own location, and transmits this information to the on-board control center to provide decision-making basis for autonomous vehicles. In short, perception is a system that uses data from multiple sensors and information from high-precision maps as information input, and after a series of calculations and processing, it accurately perceives the environment around the autonomous vehicle.

[0003] Existing perception systems are generally fixed parts, and each sensor or radar can only detect a specified location. If multiple locations need to be detected simultaneously, radars need to be deployed at multiple locations at the same time, which takes up a lot of space and is inconvenient to manage. Therefore, how to reduce space occupation while ensuring detection of the required locations is a problem that needs to be solved. Utility Model Content

[0004] The purpose of this application is to provide a vehicle-mounted environment perception system to solve the problem that existing vehicle-mounted environment perception systems need to detect multiple locations at the same time, resulting in a large space occupation.

[0005] The technical solution of the present application is: an in-vehicle environment perception system, comprising a system mounting base, a visual perception unit, and a radar perception unit; the visual perception unit is arranged on the system mounting base, and the radar perception unit is fixedly connected to one side of the recognition perception unit;

[0006] The radar sensing unit includes a motor mounting seat, a drive motor, a rotating shaft, a radar mounting base and a laser radar; the drive motor is arranged in the motor mounting seat, the motor mounting seat is fixedly connected to the visual perception unit, the rotating shaft is arranged on the radar mounting base, the output shaft of the drive motor passes through the hole of the motor mounting seat and is coaxially connected to the rotating shaft, and the laser radar is fixedly connected to the radar mounting base.

[0007] Preferably, a protective shell is provided on the outside of the radar mounting base plate, and the protective shell includes a rotating small shell and a rotating main shell. The rotating small shell is arranged between the rotating shaft and the driving motor. The rotating small shell is a hollow structure, and the output end of the driving motor is connected to the rotating shaft through the rotating small shell. A circular mounting groove is provided at the bottom of the rotating main shell, and the radar mounting base is arranged in the mounting groove. The side wall of the rotating small shell is snap-fitted with the side wall of the rotating main shell, and the rotating small shell and the rotating main shell are screwed together; the radar mounting base is a circular ring structure and has multiple groups of fan-shaped mounting grooves along the circumference. The radar mounting base is connected to the laser radar through the fan-shaped mounting grooves.

[0008] Preferably, the visual perception unit includes an upper shell, a front shell, a main shell and a camera. The main shell is tilted and the width of the main shell gradually increases from bottom to top. A rectangular opening is provided on one side of the bottom of the main shell and a runway-shaped opening connected to the radar sensing system is provided on the other side. The main shell is connected to the system mounting base through the rectangular opening. The upper shell is an arc-shaped structure and the upper shell is snap-fitted with the top of the main shell. The front shell is a tetrahedral opening structure with one side narrow and the other side wide. The front shell is snap-fitted with the upper shell and the main shell. An installation cavity is formed between the front shell, the upper shell and the main shell. The camera is arranged in the installation cavity, and the shooting position of the camera is located at the opening of the front shell.

[0009] Preferably, a decorative strip is connected between the front shell, the upper shell and the main shell. The decorative strip is a rectangular opening structure. A USB interface connected to the camera is provided on the side wall of the upper shell. A vertical mounting plate is provided at the opening of the mounting cavity corresponding to the front shell, and the camera is connected to the vertical mounting plate with screws.

[0010] Preferably, the system mounting base plate is a V-shaped structure and is provided with a rib plate at the opening. An inertial measurement unit is also provided in the mounting cavity. The main shell is provided with an inclined mounting plate in the mounting cavity. The inertial measurement unit is connected to the inclined mounting plate by bolts. A wiring port is provided on the side wall of the front shell. Both the radar sensing unit and the inertial measurement unit can be connected to external cables through the wiring port.

[0011] The present application discloses a vehicle-mounted environmental perception system, comprising a system mounting base, a visual perception unit and a radar perception unit. The visual perception unit is arranged on the system mounting base, and the radar perception unit is fixedly connected to one side of the identification perception unit. The radar perception unit comprises a motor mounting seat, a drive motor, a rotating shaft, a radar mounting base and a laser radar; the motor mounting seat is fixedly connected to the visual perception unit, the rotating shaft is arranged on the radar mounting base, the output end of the motor mounting seat is coaxially connected to the rotating shaft, and the laser radar is fixedly connected to the radar mounting base. When performing radar monitoring, the drive motor is controlled to work, and the radar mounting base and the laser radar are driven to rotate by the rotating shaft to adjust the monitoring angle of the laser radar, so that large-angle environmental monitoring can be achieved with a smaller spatial structure, thereby effectively saving space, improving monitoring efficiency and convenience of management. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions provided by this application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application.

[0013] Figure 1 This is the axonometric drawing of the overall structure of this application;

[0014] Figure 2 This is the main view of the overall structure of this application;

[0015] Figure 3 This is an exploded view of the overall structure of this application;

[0016] Figure 4 This is a schematic diagram of the overall structure of this application without the upper shell.

[0017] 1. Upper shell; 2. Front shell; 3. Decorative strip; 4. Camera; 5. Inertial measurement unit; 6. Main shell; 7. Drive motor; 8. Motor mounting base; 9. Rotating small shell; 10. Rotating axis; 11. Radar mounting base; 12. Rotating main shell; 13. LiDAR; 14. Rib plate; 15. System mounting base; 16. USB port; 17. Vertical mounting plate; 18. Tilt mounting plate. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] An on-vehicle environmental perception system, such as Figure 1-3As shown, the system includes a system mounting base 15, a visual perception unit, and a radar perception unit. The visual perception unit is mounted on the system mounting base 15, and the radar perception unit is fixedly connected to one side of the recognition perception unit. The visual perception unit is used for visual monitoring of the external environment, while the radar perception unit is used for radar monitoring of the external ring.

[0020] The radar sensing unit includes a motor mounting seat 8, a drive motor 7, a rotating shaft 10, a radar mounting base 11 and a laser radar 13; the drive motor 7 is arranged in the motor mounting seat 8, the motor mounting seat 8 is fixedly connected to the visual perception unit, the rotating shaft 10 is arranged on the radar mounting base 11, the output shaft of the drive motor 7 passes through the hole of the motor mounting seat 8 and is coaxially connected to the rotating shaft 10, and the laser radar 13 is fixedly connected to the radar mounting base 11.

[0021] Both the visual perception unit and the radar perception unit are connected to the background equipment, which can be a computer, etc. When performing radar monitoring, the drive motor 7 is controlled to work, and the radar mounting base 11 and the laser radar 13 are driven to rotate through the rotating shaft 10, and the monitoring angle of the laser radar 13 is adjusted, so that large-angle environmental monitoring can be achieved with a smaller spatial structure, thereby effectively saving space in the vehicle and improving monitoring efficiency and management convenience.

[0022] Preferably, a protective shell is provided on the outside of the radar mounting base 11, and the protective shell includes a rotating small shell 9 and a rotating main shell 12. The rotating small shell 9 is arranged between the rotating shaft 10 and the driving motor 7. The rotating small shell 9 is a hollow structure. The output end of the driving motor 7 is connected to the rotating shaft 10 through the rotating small shell 9. A circular mounting groove is provided at the bottom of the rotating main shell 12. The radar mounting base 11 is arranged in the mounting groove. The rotating small shell 9 and the rotating main shell 12 rotate synchronously with the rotating shaft 10. The laser radar 13 is entirely assembled between the rotating small shell 9 and the rotating main shell 12. The side wall of the rotating small shell 9 is snap-fitted with the side wall of the rotating main shell 12, and the rotating small shell 9 and the rotating main shell 12 are screwed to ensure the sealing and stability of the assembly between the rotating small shell 9 and the rotating main shell 12.

[0023] The radar mounting base is a circular ring structure and has multiple sets of fan-shaped mounting grooves along the circumference. The radar mounting base is connected to the laser radar 13 through the fan-shaped mounting grooves, so that the laser radar 13 can be accurately assembled with the radar mounting base.

[0024] Preferably, the visual perception unit includes an upper shell 1, a front shell 2, a main shell 6, and a camera 4. The main shell 6 is a special-shaped structure, arranged at an angle and gradually increasing in width from bottom to top. A rectangular opening is provided on one side of the bottom of the main shell 6, and a runway-shaped opening is provided on the other side for connection to the radar sensing system. The main shell 6 is connected to the system mounting base 15 via the rectangular opening. The upper shell 1 is an arc-shaped structure and has an overall curved quadrilateral surface. The four corners of the upper shell 1 have four screw holes and are threadedly connected to the main shell 6 through the four screw holes. The upper shell 1 and the top sidewalls of the main shell 6 are snap-fitted to ensure a sealed connection. The front shell 2 is a tetrahedral opening structure with one narrow side and one wide side. The front shell 2 snaps into place with the upper shell 1 and the main shell 6. A mounting cavity is formed between the front shell 2, the upper shell 1, and the main shell 6. The camera 4 is disposed within the mounting cavity, and the shooting position of the camera 4 is located at the opening of the front shell 2. In this way, the camera 4 can monitor the external environment through the opening of the front shell 2.

[0025] Combine Figure 4 Preferably, a decorative strip 3 is connected between the front housing 2, the upper housing 1, and the main housing 6. The decorative strip 3 has a rectangular opening and is used to enhance the tightness of the connection between the front housing 2, the upper housing 1, and the main housing 6. A USB port 16 connected to the camera 4 is provided on the side wall of the upper housing 1. A vertical mounting plate 17 is provided in the opening of the mounting cavity corresponding to the front housing 2. The camera 4 is screwed to the vertical mounting plate 17. The vertical mounting plate 17 cooperates with the front housing 2 to limit the position of the camera 4 and ensure its stability.

[0026] Preferably, the system mounting base 15 has a V-shaped structure with a rib 14 at the opening. The inertial measurement unit 5 is also located within the mounting cavity. The main housing 6 is provided with an inclined mounting plate 18 within the mounting cavity. The inertial measurement unit 5 is bolted to the inclined mounting plate 18. The inclined mounting base supports the inertial measurement unit 5. The sidewalls of the front housing 2 are provided with wiring ports, through which both the radar sensing unit and the inertial measurement unit 5 can be connected to external cables. The inertial measurement unit 5 is provided to measure vehicle inertia, and the rib 14 is provided to strengthen the system mounting base 15.

[0027] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense, and may refer to mechanical or electrical connections, internal communication between two components, or direct connection. "Up," "down," "left," and "right" are only used to indicate relative positional relationships. When the absolute positions of the objects being described change, the relative positional relationships may also change.

[0028] Secondly: The drawings of the embodiments disclosed in this utility model only involve structures related to the embodiments disclosed in this utility model. Other structures can refer to common designs. In the absence of conflicts, the same embodiment and different embodiments of the utility model can be combined with each other.

[0029] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle-mounted environment perception system, characterized in that: It comprises a system installation base plate (15), a visual perception unit and a radar perception unit; the visual perception unit is arranged on the system installation base plate (15), and the radar perception unit is fixedly connected to one side of the recognition perception unit; The radar sensing unit comprises a motor mounting seat (8), a driving motor (7), a rotating shaft (10), a radar mounting base plate (11) and a laser radar (13); the driving motor (7) is arranged in the motor mounting seat (8), the motor mounting seat (8) is fixedly connected to the visual sensing unit, the rotating shaft (10) is arranged on the radar mounting base plate (11), the output shaft of the driving motor (7) passes through the hole of the motor mounting seat and is coaxially connected to the rotating shaft (10), and the laser radar (13) is fixedly connected to the radar mounting base plate (11).

2. The vehicle-mounted environment perception system according to claim 1, characterized in that: A protective shell is provided on the outside of the radar installation base plate (11), and the protective shell includes a rotating small shell (9) and a rotating main shell (12). The rotating small shell (9) is arranged between the rotating shaft (10) and the driving motor (7). The rotating small shell (9) is a hollow structure. The output end of the driving motor (7) passes through the rotating small shell (9) and is connected to the rotating shaft (10). A circular mounting groove is provided at the bottom of the rotating main shell (12). The radar installation base (11) is arranged in the mounting groove. The side wall of the rotating small shell (9) is snap-fitted with the side wall of the rotating main shell (12), and the rotating small shell (9) and the rotating main shell (12) are screw-connected. The radar installation base is a circular ring structure and has a plurality of sets of fan-shaped mounting grooves arranged along the circumferential direction. The radar installation base is connected to the laser radar (13) through the fan-shaped mounting grooves.

3. The vehicle-mounted environment perception system according to claim 1, characterized in that: The visual perception unit comprises an upper shell (1), a front shell (2), a main shell (6) and a camera (4); the main shell (6) is arranged obliquely and the width of the main shell (6) gradually increases from bottom to top; a rectangular opening is provided on one side of the bottom of the main shell (6) and a runway-shaped opening connected to the radar perception system is provided on the other side; the main shell (6) is connected to the system installation base plate (15) through the rectangular opening; the upper shell (1) is an arc-shaped structure and the upper shell (1) is snap-fitted with the top of the main shell (6); the front shell (2) is a tetrahedral opening structure with one side narrow and one side wide; the front shell (2) is snap-fitted with the upper shell (1) and the main shell (6); an installation cavity is formed between the front shell (2), the upper shell (1) and the main shell (6); the camera (4) is arranged in the installation cavity, and the shooting position of the camera (4) is located at the opening of the front shell (2).

4. The vehicle-mounted environment perception system according to claim 3, characterized in that: A decorative strip (3) is connected between the front shell (2), the upper shell (1) and the main shell (6); the decorative strip (3) is a rectangular opening structure; a USB interface (16) connected to the camera (4) is provided on the side wall of the upper shell (1); a vertical mounting plate (17) is provided at the opening of the mounting cavity corresponding to the front shell (2); and the camera (4) is screwed to the vertical mounting plate (17).

5. The vehicle-mounted environment perception system according to claim 3, characterized in that: The system installation base plate (15) is a V-shaped structure and a rib plate (14) is provided at the opening. An inertial measurement unit (5) is also provided in the installation cavity. The main shell (6) is provided with an inclined installation plate (18) in the installation cavity. The inertial measurement unit (5) is connected to the inclined installation plate (18) by bolts. A wiring port is provided on the side wall of the front shell (2). Both the radar sensing unit and the inertial measurement unit (5) can be connected to external cables through the wiring port.

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