Sensor integrated support and unmanned vehicle

Abstract

The utility model relates to the technical field of unmanned transportation, and provides a sensor integration support which specifically comprises a support body, a main installation frame and an auxiliary installation frame. The support body is designed to be of a frame structure and comprises a first installation beam, a first longitudinal beam, a connecting beam, a first supporting beam, a supporting plate and the like, and a stable structure is formed. The main mounting frame and the secondary mounting frame are distributed in the middle and on two sides of the bracket main body and are used for mounting a sensor and / or a camera device. And the sensors and / or the camera devices are correspondingly mounted on the mounting positions to execute detection or camera tasks. In addition, an integrated housing is also designed for integrated installation of a plurality of sensors and / or camera devices, and a waterproof flange is provided to prevent moisture intrusion. The utility model further provides an unmanned vehicle which comprises the sensor integrated support and is used for installing a detection device. According to the design, a plurality of detection devices are integrated in one frame structure, so that the complexity of scattered installation is avoided, and the integration level and the stability of the detection device are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned transportation, and particularly relates to a sensor integrated bracket and an unmanned vehicle for installing a plurality of sensors and camera devices. Background Art

[0002] In the field of unmanned logistics vehicle technology, a variety of sensors and cameras are usually equipped on unmanned vehicles for functions such as autonomous navigation, environment perception, and obstacle avoidance of the vehicle. These devices play a crucial role in the operation of the vehicle.

[0003] However, there are some problems with the installation methods of a variety of sensors and cameras on existing unmanned vehicles. Specifically, these sensors and cameras adopt a scattered installation method. When installing, each device needs to be separately positioned and fixed, which increases the complexity of installation. It not only takes time and effort, but also results in a low positioning accuracy of the relative positions between the devices and a lack of precise control, leading to problems in data coordination between the sensors and cameras during actual operation, thus affecting the overall performance and stability of the unmanned logistics vehicle, and further affecting the normal operation of the devices.

[0004] Therefore, in view of the above problems, there is an urgent need to develop a new installation method for sensors and cameras to overcome the limitations of the existing scattered installation method. Summary of the Utility Model

[0005] One of the purposes of the utility model is to provide a sensor integrated bracket, which overcomes the limitations of the existing scattered installation method and improves the reliability of unmanned transportation through technical means such as integrated design, modular installation, and high-precision positioning.

[0006] To solve the above technical problems, the utility model provides a sensor integrated bracket, which includes a bracket main body, a main mounting bracket, and a secondary mounting bracket. The main mounting bracket and the secondary mounting bracket are respectively installed on the bracket main body. The main mounting bracket and the secondary mounting bracket are arranged side by side and distributed in an upper and lower hierarchical manner. The bracket main body is set as a frame structure. The main mounting bracket and the secondary mounting bracket are respectively provided with mounting parts for at least two types of sensors. The main mounting bracket is located in the middle of the frame structure of the bracket main body, and the secondary mounting bracket is located on one side of the frame structure of the main mounting bracket, and are respectively used for installing different sensors and / or camera devices.

[0007] In addition to the above technical features, the present application has also made improvements in the following aspects:

[0008] In some embodiments, the frame structure provided on the bracket main body includes a first mounting beam, a first longitudinal beam, and a connecting beam. The first longitudinal beam is provided in at least two groups and is connected to the first mounting beam, and the two groups of first longitudinal beams are parallel to each other; the connecting beam is provided between the two groups of first longitudinal beams, at least in one group, and connects the two parallel first longitudinal beams.

[0009] In some embodiments, a first support beam and a support plate are provided on the upper part of the two parallel connecting beams. The support plate is mounted on the upper part of the first support beam and extends out of the first support beam for mounting a sensor and / or a camera device.

[0010] In some embodiments, the secondary mounting brackets are provided in two groups and are respectively arranged on both sides of the main mounting bracket. The two secondary mounting brackets and the main mounting bracket are arranged on the same side of the first mounting beam, and the secondary mounting brackets arranged at both ends are symmetrically distributed relative to the main mounting bracket.

[0011] In some embodiments, an integrated housing is provided on the upper part of the first support beam and the support plate. The integrated housing is mounted between the two first longitudinal beams of the main mounting bracket for mounting a sensor and / or a camera device.

[0012] In some embodiments, an exterior decoration mounting part is further provided on the bracket main body. The exterior decoration mounting part includes connecting pieces. The connecting pieces are provided in two groups and are distributed at both ends of the main mounting bracket for connecting an exterior decoration housing.

[0013] In some embodiments, mounting holes and / or mounting grooves are provided on the upper part and one side of the integrated housing for integrally mounting a sensor and / or a camera device.

[0014] In some embodiments, a waterproof device is provided at the positions corresponding to the mounting holes and / or mounting grooves on the upper part and the front end side of the integrated housing.

[0015] In some embodiments, the secondary mounting bracket is provided with an upper and lower hierarchical structure, including a second mounting beam, a second longitudinal beam, and a mounting plate. One end of the second mounting beam is connected to the first longitudinal beam; the second longitudinal beam connects the first mounting beam and the second mounting beam, at least in one group, and is parallel to the first longitudinal beam; two second support beams are provided on the upper part of the second longitudinal beam and are perpendicularly connected to the second longitudinal beam; the mounting plates are provided in multiple groups and are distributed at different positions of the upper, middle, and lower parts of the two second support beams for mounting radars and / or cameras in different orientations respectively.

[0016] Another object of the present utility model is to provide an autonomous vehicle, including the sensor integration bracket described above for mounting a radar and / or a camera.

[0017] By adopting the above technical solutions, the present utility model has at least one of the following beneficial effects:

[0018] 1. Integrated design to improve installation efficiency and accuracy:

[0019] Integrated design: Through the design of the integrated bracket, multiple mounting positions are integrated onto the bracket body of the frame structure, and then multiple sensors and cameras are integrated into one frame structure. This avoids the tediousness of scattered installation and simplifies the installation process of sensors and cameras. Compared with the traditional scattered installation method, this integrated design significantly reduces the installation steps and improves the installation efficiency.

[0020] Precise positioning: The integrated frame structure and the precise design of the mounting positions ensure that the relative positional relationship between each mounting position is precisely controllable. This precise control helps to improve the data collaboration ability between sensors and cameras, reduces data errors caused by position deviations, makes the relative positional relationship between each sensor and camera precisely controllable, improves the data collaboration ability, and thus improves the overall performance and stability of the unmanned vehicle.

[0021] 2. High-precision positioning to enhance device collaboration:

[0022] Data collaboration optimization: Since the sensors and cameras are integrated on one bracket, their relative positional relationship is more stable, which is conducive to the collaborative processing of data. This helps to improve the performance of the unmanned logistics vehicle in aspects such as autonomous navigation, environmental perception, and obstacle avoidance.

[0023] Reduction of error accumulation: Scattered installation may lead to error accumulation and affect the overall performance. However, integrated installation can effectively reduce this error accumulation and improve the stability and reliability of the system.

[0024] In summary, the sensor integrated bracket of the present application, through features such as integrated design, high-precision positioning, easy installation and maintenance, effectively overcomes the limitations of the existing scattered installation method, provides a new solution for the development of the unmanned logistics vehicle technology field, and the application of this sensor integrated bracket helps to improve the performance of the unmanned logistics vehicle in aspects such as autonomous navigation, environmental perception, and obstacle avoidance. Description of the Drawings

[0025] The drawings described herein are used to provide a further understanding of the present utility model and form a part of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model.

[0026] Figure 1 It is a schematic diagram of the overall structure of the sensor integrated bracket of the present utility model;

[0027] Figure 2 It is a schematic diagram of the structure after removing the integrated housing of the present utility model.

[0028] The reference numerals in the figures are as follows:

[0029] 1. Bracket main body; 101. First installation beam; 112. First longitudinal beam; 113. Connection beam; 102. First support beam; 103. Support plate; 122. Second installation beam; 123. Second longitudinal beam; 124. Second support beam; 2. Main installation frame; 3. Secondary installation frame; 4. Integrated housing; 401. First fixing plate; 402. Second fixing plate; 403. Side cover plate; 5. Installation hole; 6. Installation groove; 7. Waterproof device; 8. Installation plate; 9. Connecting piece. Detailed implementation manners

[0030] Various exemplary embodiments of the present utility model will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and in no way limits the present utility model and its application or use. The present utility model can be implemented in other different forms and is not limited to the embodiments described herein.

[0031] It should be noted that those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present utility model can be combined with other embodiments without conflict. Unless otherwise defined, the technical terms or scientific terms involved in the present utility model should have the ordinary meaning understood by those with ordinary skills in the technical field to which the present utility model belongs.

[0032] The terms "a", "an", "one kind", "the" and other similar words involved in the present utility model do not represent a limitation in quantity and can represent singular or plural. The terms "including", "comprising", "having" and any variations thereof involved in the present utility model are intended to cover non-exclusive inclusion; the terms "first", "second", "third" and the like involved in the present utility model are merely used to distinguish similar objects and do not represent a specific order for the objects.

[0033] The present utility model is proposed based on the fact that the installation of various sensors and cameras on existing unmanned vehicles adopts a decentralized installation method. During the installation process, it is necessary to separately position and fix each device, which increases the complexity of the installation. This process not only takes time and effort, but also results in low relative position positioning accuracy between devices and lack of precise control, leading to problems in data coordination between sensors and cameras during actual operation and affecting the overall performance and stability of the unmanned logistics vehicle. The present utility model specifically provides a technical solution to solve the above problems. The technical solution, working principle and technical effects of the present utility model will be described in detail below with specific embodiments.

[0034] Refer to Figure 1 、 Figure 2As shown, the sensor integration bracket in this embodiment mainly includes a bracket body 1, a main mounting bracket 2, and a secondary mounting bracket 3.

[0035] The bracket body 1 adopts a frame structure. The main mounting bracket 2 and the secondary mounting bracket 3 are respectively mounted on the bracket body 1. The main mounting bracket 2 and the secondary mounting bracket 3 are arranged side by side and distributed in an upper and lower hierarchical manner.

[0036] The main mounting bracket 2 and the secondary mounting bracket 3 are respectively provided with mounting parts for two types of sensors. The main mounting bracket 2 is located in the middle of the frame mechanism of the bracket body 1, and the secondary mounting bracket 3 is located on one side of the frame structure of the main mounting bracket 2, and are respectively used to mount different sensors and / or camera devices for detection or imaging.

[0037] The bracket body 1 is made of a high-strength and lightweight metal material, such as aluminum alloy or carbon fiber composite material, to reduce weight and improve structural strength.

[0038] The bracket body 1 as a whole presents a stable frame structure. This frame structure includes components such as a first mounting beam 101, a first longitudinal beam 112, a connecting beam 113, a first support beam 102, and a support plate 103.

[0039] The main mounting bracket 2 is arranged in the middle of the first mounting beam 101. The main mounting bracket 2 is located on one side of the first mounting beam 101 and is used to mount the main detection device.

[0040] The first longitudinal beams 112 are provided in two groups. The two groups of first longitudinal beams 112 are arranged in parallel to provide a stable support structure for the bracket body 1.

[0041] At least one group of connecting beams 113 is provided. The connecting beams 113 connect the two parallel first longitudinal beams 112 to form a stable frame foundation and enhance the overall stability of the bracket body 1.

[0042] The first support beam 102 and the support plate 103 are arranged on the upper part of the connecting beam 113. The support plate 103 is mounted on the upper part of the first support beam 102 and extends out of the first support beam 102 for mounting sensors and camera devices.

[0043] In order to achieve the integrated installation of multiple sensors and camera devices, the main mounting bracket 2 and the secondary mounting bracket 3 are arranged in the middle and on both sides of the bracket body 1 to ensure the reasonable distribution of sensors and cameras and avoid mutual interference.

[0044] The main mounting bracket 2 and the secondary mounting bracket 3 are arranged according to the requirements of sensors and cameras to ensure that the sensors and cameras can fully cover the area to be detected.

[0045] In this embodiment, through precision machining and assembly processes, the positioning accuracy of each main mounting bracket 2 and secondary mounting bracket 3 is ensured to meet the design requirements, so as to ensure that the relative positional relationship between the sensor and the camera is precisely controllable.

[0046] As an optimization, in order to facilitate the installation of sensors and cameras on both sides of the bracket body 1, secondary mounting brackets 3 are provided at both ends of the first mounting beam 101. These secondary mounting brackets 3 are arranged on the same side of the first mounting beam 101 as the main mounting bracket 2 and are symmetrically distributed relative to the main mounting bracket 2. This design helps to balance the weight and force conditions of the bracket body 1.

[0047] Among them, the secondary mounting bracket 3 includes components such as a second mounting beam 122, a second longitudinal beam 123, a second support beam 124, and a mounting plate 8.

[0048] Multiple groups of mounting plates 8 are provided and distributed at different upper, middle, and lower positions of the two groups of second support beams 124, respectively, for installing different types of sensors and cameras. In this embodiment, the mounting plate 8 arranged at the uppermost part is used to install a lidar, the mounting plate 8 in the middle is used to install a square radar, and the lowermost mounting plate 8 installs a camera device. The camera device can be a camera or other photographic equipment that can realize the functions of taking pictures or videos.

[0049] Through the above design, the secondary mounting bracket 3 can make full use of space and meet various detection requirements.

[0050] In this embodiment, detection or imaging devices such as lidars, direction radars, and camera devices are correspondingly installed on the main mounting bracket 2 and the secondary mounting bracket 3. The installation process is simple and fast, and no separate positioning and fixing operations are required.

[0051] According to actual requirements, a lidar, a direction radar, and a camera are correspondingly installed on the main mounting bracket 2. These detection devices ensure the accuracy of the relative position through a precise adjustment mechanism.

[0052] The main mounting bracket 2 can be designed as a multi-functional integrated area, which can install multiple types of sensors and cameras simultaneously to meet different detection requirements.

[0053] In order to improve the installation accuracy of the sensors and cameras, an integrated housing 4 is provided on the upper part of the first support beam 102 and the support plate 103 for integrally installing various sensors and cameras.

[0054] The integrated housing 4 includes parts such as a first fixing plate 401, a second fixing plate 402, and a side cover plate 403, and realizes the stable installation of the detection device through structures such as mounting holes 5 and mounting grooves 6.

[0055] Mounting holes 5 and / or mounting grooves 6 are provided on the first fixing plate 401 and the second fixing plate 402 at the front end, for integrally mounting multiple sensors and cameras. These mounting holes 5 and mounting grooves 6 are precisely calculated and designed to ensure that the detection device can be stably and accurately mounted at a predetermined position.

[0056] Preferably, the integrated housing 4 is made of high-strength alloy material and is specially treated to improve corrosion resistance and wear resistance, ensuring the long-term stable operation of the device in harsh environments.

[0057] In this embodiment, the design of the mounting holes 5 and / or mounting grooves 6 on the integrated housing 4 makes the installation and replacement of the detection device more convenient. At the same time, it supports the integration of multiple detection devices or camera devices, improving the expandability and flexibility of the bracket. The integrated housing 4 can be used to mount a variety of sensors and cameras, realizing multi-functional integration. This design enables the unmanned logistics vehicle to more comprehensively perceive the surrounding environment and improve capabilities such as autonomous navigation, environmental perception, and obstacle avoidance.

[0058] As a further optimized design, in this embodiment, a waterproof edge is provided at the upper part of the first fixing plate 401 and the front end of the second fixing plate 402 at the front end, effectively blocking moisture from invading the sensors and cameras and improving the waterproof performance of the device. A waterproof retaining ring is also provided in cooperation with the waterproof edge, enhancing the waterproof effect.

[0059] The present utility model also describes an unmanned vehicle. The above-mentioned sensor integration bracket is installed on the unmanned vehicle by an appropriate fixing method to ensure that the bracket main body 1 is stable and tightly connected to the vehicle body. By integrating and calibrating each sensor and camera installed on the bracket with the control system of the unmanned vehicle, it is ensured that data can be accurately transmitted and processed, providing support for functions such as autonomous navigation, environmental perception, and obstacle avoidance of the unmanned vehicle.

[0060] In order to more clearly elaborate the technical solution of the present utility model, the following describes the specific assembly process of the sensor integration bracket:

[0061] In the first step, parts such as the first mounting beam 101, the first longitudinal beam 112, the connecting beam 113, the first support beam 102, and the support plate 103 are assembled and welded to form a stable frame structure.

[0062] After the main mounting frame 2 in the middle of the bracket main body 1 is welded and assembled, the secondary mounting frames 3 provided on both sides of the bracket main body 1 are welded and assembled, and it is ensured that their connection with the first mounting beam 101 is stable.

[0063] The overall assembly of the bracket main body 1 requires ensuring that the connection between each component is firm and reliable.

[0064] Step 2: Open mounting holes 5 and mounting grooves 6 on the first fixing plate 401 and the second fixing plate 402 of the integrated housing 4, and on the mounting plate 8 of the secondary mounting bracket 3, and arrange them precisely according to the requirements of the sensors and cameras.

[0065] Step 3: Mount the lidar on the first fixing plate 401 of the integrated housing 4 to ensure its effective monitoring range of the environment.

[0066] Mount the direction radar and / or camera on the second fixing plate 402 at the front end for detecting obstacles and road conditions ahead.

[0067] Step 4: Mount the sensors and cameras on the secondary mounting bracket 3 to achieve effective monitoring of the sides of the vehicle.

[0068] Step 5: To improve the waterproofness and durability of the sensors and cameras, mount waterproof edges on the first fixing plate 401 and the second fixing plate 402 of the integrated housing 4 to block moisture from invading the sensors and cameras. At the same time, perform an anti-corrosion treatment on the entire bracket body 1 to improve its durability and ensure stable operation even in harsh environments such as rain and snow.

[0069] Step 6: After the installation is completed, conduct a comprehensive test and debugging of the sensor integration bracket to ensure that its various performance indicators meet the design requirements. Pay special attention to aspects such as data coordination, accuracy, and stability of the detection devices during the test to ensure its reliable application on the unmanned logistics vehicle.

[0070] Another object of the present utility model is to provide an unmanned vehicle that uses the above-mentioned sensor integration bracket for mounting radars and cameras.

[0071] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

[0072] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement; when the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

Claims

1. A sensor integrated bracket, characterized in that, It includes a bracket main body (1), a main mounting bracket (2) and a secondary mounting bracket (3). The main mounting bracket (2) and the secondary mounting bracket (3) are respectively mounted on the bracket main body (1). The main mounting bracket (2) and the secondary mounting bracket (3) are arranged side by side and distributed in an upper and lower hierarchical manner. The bracket main body (1) is set as a frame structure. Mounting parts for at least two types of sensors are respectively provided on the main mounting bracket (2) and the secondary mounting bracket (3). The main mounting bracket (2) is located in the middle of the frame mechanism of the bracket main body (1), and the secondary mounting bracket (3) is located on one side of the frame structure of the main mounting bracket (2), and are respectively used for mounting different sensors and / or camera devices.

2. The sensor integrated bracket according to claim 1, characterized in that, The frame structure set by the bracket main body (1) includes a first mounting beam (101), a first longitudinal beam (112), and a connecting beam (113). The first longitudinal beam (112) is set to at least two groups and is connected to the first mounting beam (101). The two groups of first longitudinal beams (112) are parallel to each other. The connecting beam (113) is arranged between the two groups of first longitudinal beams (112), at least one group, and connects the two parallel first longitudinal beams (112).

3. The sensor integration bracket according to claim 2, wherein A first support beam (102) and a support plate (103) are arranged on the upper part of the two parallel connecting beams (113). The support plate (103) is mounted on the upper part of the first support beam (102) and extends out of the first support beam (102), and is used for mounting sensors and / or camera devices.

4. The sensor integration bracket according to claim 1, characterized in that, The secondary mounting brackets (3) are set to two groups, and are respectively arranged on both sides of the main mounting bracket (2). The two secondary mounting brackets (3) and the main mounting bracket (2) are arranged on the same side of the first mounting beam (101), and the secondary mounting brackets (3) arranged at both ends are symmetrically distributed relative to the main mounting bracket (2).

5. The sensor integration bracket according to claim 3, characterized in that, An integrated housing (4) is arranged on the upper part of the first support beam (102) and the support plate (103). The integrated housing (4) is mounted between the two groups of first longitudinal beams (112) of the main mounting bracket (2), and is used for mounting sensors and / or camera devices.

6. The sensor integration bracket according to claim 1, wherein An exterior decoration mounting part is also provided on the bracket main body (1). The exterior decoration mounting part includes connecting pieces (9). The connecting pieces (9) are set to two groups and are distributed at both ends of the main mounting bracket (2), and are used for connecting an exterior decoration housing.

7. The sensor integration bracket according to claim 5, wherein Mounting holes (5) and / or mounting grooves (6) are provided on the upper part and one side of the integrated housing (4), and are used for integrally mounting sensors and / or camera devices.

8. The sensor integration bracket according to claim 5, characterized in that, A waterproof device (7) is provided at the position corresponding to the mounting holes (5) and / or mounting grooves (6) on the upper part and the front end side of the integrated housing (4).

9. The sensor integration bracket according to claim 1, wherein The secondary mounting bracket (3) is arranged in an upper and lower hierarchical structure, including a second mounting beam (122), a second longitudinal beam (123), and a mounting plate (8). One end of the second mounting beam (122) is connected to the first longitudinal beam; the second longitudinal beam (123) connects the first mounting beam (101) and the second mounting beam (122), is provided with at least one group, and is parallel to the first longitudinal beam (112); a second support beam (124) is arranged on the upper part of the second longitudinal beam (123), is provided with two groups, and is vertically connected to the second longitudinal beam (123); the mounting plates (8) are provided with multiple groups, and are distributed at different positions of the upper, middle, and lower parts of the two groups of second support beams (124), and are respectively used for mounting radars and / or cameras in different orientations.

10. An unmanned vehicle, characterized in that, Comprising the sensor integration bracket according to any one of claims 1-9, for mounting a radar and / or a camera.

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