Sensor mounting device and vehicle
By adjusting the yaw angle, pitch angle and roll angle of the sensor, the sensor installation error problem is solved, and the accuracy of perceived data and the reliability of autonomous driving are improved.
Patent Information
- Application Number
- CN202422695091.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-05
- Publication Date
- 2025-08-19
- Estimated Expiration
- 2034-11-05
AI Technical Summary
The sensor has installation errors on the vehicle, resulting in inaccurate perception data, affecting the reliability of assisted driving and unmanned driving.
The adjustment assembly consisting of the first adjustment seat, the second adjustment seat and the third adjustment seat are adopted to adjust the yaw angle, pitch angle and roll angle of the sensor by rotating the adjustment seats to correct the installation error.
Effectively correct the installation error of the sensor to make its actual posture consistent with the design posture, and improve the accuracy of perceived data and the reliability of autonomous driving.
Smart Images
Figure CN223237551U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to driving technology, and in particular to a sensor installation device and a vehicle. Background Art
[0002] Technologies such as assisted and autonomous driving have become hot research topics in recent years. These technologies often utilize sensors such as radar and cameras. Sensors can have installation errors, and correcting these errors is a significant concern for those skilled in the art. Summary of the Invention
[0003] In order to solve the above technical problems, the present disclosure provides a sensor installation device and a vehicle.
[0004] According to one aspect of an embodiment of the present disclosure, a sensor installation device is provided, comprising:
[0005] Install the base;
[0006] A first adjustment seat, a second adjustment seat and a third adjustment seat, the first adjustment seat is used to install the sensor, the second adjustment seat is rotatably connected to the mounting base, and the third adjustment seat is rotatably connected to the first adjustment seat and the second adjustment seat respectively. Rotation of at least one of the first adjustment seat, the second adjustment seat and the third adjustment seat is conducive to adjusting the yaw angle, pitch angle and / or roll angle of the sensor.
[0007] According to another aspect of the embodiments of the present disclosure, a vehicle is provided, comprising:
[0008] Vehicle body;
[0009] The above-mentioned mounting device, wherein the mounting base in the mounting device is mounted on the vehicle body via a fixed support.
[0010] Based on the sensor installation device and vehicle provided in the above-mentioned embodiments of the present disclosure, through the adjustment assembly composed of the first adjustment seat, the second adjustment seat, and the third adjustment seat, not only can the sensor be installed on the installation base so that the sensor can be fixed to a predetermined position of the vehicle through the installation base, but the yaw angle, pitch angle and / or roll angle of the sensor can also be adjusted to adjust the actual posture of the sensor to the design posture (which can be understood as the posture of the sensor in the absence of installation error). In this way, the actual posture of the sensor can be made basically consistent with the design posture, thereby correcting the installation error of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is a structural schematic diagram of a sensor installation device provided by some exemplary embodiments of the present disclosure.
[0012] Figure 2 It is a structural schematic diagram of a sensor installation device provided by some other exemplary embodiments of the present disclosure.
[0013] Figure 3 It is a structural schematic diagram of a sensor installation device provided by some further exemplary embodiments of the present disclosure.
[0014] Figure 4 It is a schematic structural diagram of the second adjustment seat in some exemplary embodiments of the present disclosure.
[0015] Figure 5 is a schematic diagram of the yaw angle adjustment range in some exemplary embodiments of the present disclosure.
[0016] Figure 6 is a schematic diagram of movement of an adjustment component in some exemplary embodiments of the present disclosure.
[0017] Figure 7-1 It is a structural schematic diagram of the third adjustment seat in some exemplary embodiments of the present disclosure.
[0018] Figure 7-2 It is a structural schematic diagram of the third adjustment seat in some other exemplary embodiments of the present disclosure.
[0019] Figure 8 It is a schematic diagram of the pitch angle adjustment range in some exemplary embodiments of the present disclosure.
[0020] Figure 9-1 It is a structural schematic diagram of the first adjustment seat in some exemplary embodiments of the present disclosure.
[0021] Figure 9-2 It is a schematic structural diagram of the first adjustment seat in some other exemplary embodiments of the present disclosure.
[0022] Figure 10 Schematic diagram of the roll angle adjustment range in some exemplary embodiments of the present disclosure.
[0023] Figure 11 is a schematic diagram of a distance scale in some exemplary embodiments of the present disclosure.
[0024] Figure 12 It is a schematic structural diagram of a fixed support in some exemplary embodiments of the present disclosure.
[0025] In the figure, 10, mounting base; 20, first adjustment seat; 30, second adjustment seat; 40, third adjustment seat; 45, camera; 301, bottom plate; 303, first side plate; 305, second side plate; 3011, first oblong hole; 101, connecting groove; 50, first screw connection; 401, vertical plate; 403, first plate structure; 405, second plate structure; 3031, second oblong hole; 4031, first threaded hole; 3051, third oblong hole; 4051, second threaded hole; 60, third screw connection; 3033, first circular hole; 403 2. Third threaded hole; 3053. Second circular hole; 4052. Fourth threaded hole; 70. Fifth screw connection; 75. Sixth screw connection; 4033. First horizontal plate; 4034. Second horizontal plate; 4053. Third horizontal plate; 4054. Fourth horizontal plate; 201. Fourth oblong hole; 4011. Fifth threaded hole; 80. Seventh screw connection; 4013. Center through hole; 203. Limiting protrusion; 85. Distance scale; 90. Fixed support; 901. Support body; 903. First protrusion; 905. Second protrusion; 95. Eighth screw connection; 103. Mounting groove. DETAILED DESCRIPTION
[0026] Below, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described herein.
[0027] Application Overview
[0028] Sensors such as radar and cameras are often used in technologies like assisted driving and autonomous driving. Data collected by these sensors allows the vehicle to perceive its surroundings, such as the road, traffic lights, pedestrians, and cyclists. Based on these perceptions, the vehicle's driving state can be controlled, such as by braking, steering, and deceleration.
[0029] The sensor can be installed at a predetermined location on the vehicle, such as the vehicle body. The sensor may have installation errors, and how to correct the installation errors of the sensor is a problem worthy of attention for those skilled in the art.
[0030] Exemplary Systems
[0031] An embodiment of the present disclosure provides a sensor mounting device. For ease of description, the sensor mounting device is referred to as the mounting device in the following text.
[0032] like Figures 1 to 3 As shown, the mounting means may include:
[0033] Mounting base 10;
[0034] The first adjustment seat 20, the second adjustment seat 30 and the third adjustment seat 40, the first adjustment seat 20 is used to install the sensor, the second adjustment seat 30 is rotatably connected to the mounting base 10, and the third adjustment seat 40 is rotatably connected to the first adjustment seat 20 and the second adjustment seat 30 respectively. Rotation of at least one of the first adjustment seat 20, the second adjustment seat 30 and the third adjustment seat 40 is conducive to adjusting the yaw angle, pitch angle and / or roll angle of the sensor.
[0035] Optionally, the mounting base 10 may be a base structure for fixing to a predetermined portion of a vehicle. As an example, the mounting base 10 may be an elongated platform, and the predetermined portion may be the body of the vehicle.
[0036] Optionally, the first adjustment seat 20, the second adjustment seat 30 and the third adjustment seat 40 can constitute an adjustment assembly, which can at least be used to realize the installation of the sensor on the mounting base 10 and is a seat structure assembly that can be used to adjust the posture of the sensor. The first adjustment seat 20 can be used to install a sensor, for example, the sensor can be Figure 2 The camera 45 shown can be mounted on the first adjustment base 20 by screwing, snapping, or other means. The second adjustment base 30 and the mounting base 10, the third adjustment base 40 and the first adjustment base 20, and the third adjustment base 40 and the second adjustment base 30 can all be rotatably connected, so that the sensor's attitude can be adjusted by rotating at least one of the first adjustment base 20, the second adjustment base 30, and the third adjustment base 40. The sensor's attitude adjustment can include at least one of the following: a) adjusting the sensor's yaw angle; b) adjusting the sensor's pitch angle; and c) adjusting the sensor's roll angle.
[0037] Optionally, you can Figures 1 to 3 The longitudinal direction of the mounting base 10 is taken as the X-axis direction. Figures 1 to 3 The height direction of the mounting base 10 is the Y-axis direction. Figures 1 to 3 The width direction of the mounting base 10 is used as the Z-axis direction to construct the coordinate system. The yaw angle can be understood as the rotation angle around the Y-axis of the coordinate system, the pitch angle can be understood as the rotation angle around the X-axis of the coordinate system, and the roll angle can be understood as the rotation angle around the Z-axis of the coordinate system.
[0038] In the embodiment of the present disclosure, through the adjustment assembly composed of the first adjustment seat 20, the second adjustment seat 30, and the third adjustment seat 40, not only can the sensor be installed on the mounting base 10 so that the sensor can be fixed to a predetermined position of the vehicle through the mounting base 10, but the yaw angle, pitch angle and / or roll angle of the sensor can also be adjusted to adjust the actual posture of the sensor to the design posture (which can be understood as the posture of the sensor in the absence of installation error). In this way, the actual posture of the sensor can be made basically consistent with the design posture, thereby correcting the installation error of the sensor.
[0039] In some optional examples, the first adjustment seat 20 rotates to adjust the roll angle of the sensor, the second adjustment seat 30 rotates to adjust the yaw angle of the sensor, and the third adjustment seat 40 rotates to adjust the pitch angle of the sensor.
[0040] Since the first adjustment mount 20 assists in adjusting the roll angle of the sensor, it can also be referred to as a roll angle adjustment mount or a roll angle adjustment mount. Since the second adjustment mount 30 assists in adjusting the yaw angle of the sensor, it can also be referred to as a yaw angle adjustment mount or a yaw angle adjustment mount. Since the third adjustment mount 40 assists in adjusting the pitch angle of the sensor, it can also be referred to as a pitch angle adjustment mount or a pitch angle adjustment mount.
[0041] In the embodiment of the present disclosure, on the one hand, the roll angle of the sensor can be adjusted by rotating the first adjustment seat 20 relative to the third adjustment seat 40, which is conducive to correcting the error between the actual posture of the sensor and the designed posture along the Z axis. On the other hand, the yaw angle of the sensor can be adjusted by rotating the second adjustment seat 30 relative to the mounting base 10, which is conducive to correcting the error between the actual posture of the sensor and the designed posture along the Y axis. On the other hand, the pitch angle of the sensor can be adjusted by rotating the third adjustment seat 40 relative to the second adjustment seat 30, which is conducive to correcting the error between the actual posture of the sensor and the designed posture along the X axis. In this way, the installation error of the sensor can be effectively corrected.
[0042] In some embodiments, the rotation of the first adjustment seat 20 may not be conducive to adjusting the roll angle of the sensor, but may be conducive to adjusting the yaw angle or pitch angle of the sensor. Similarly, the rotation of the second adjustment seat 30 may not be conducive to adjusting the yaw angle of the sensor, but may be conducive to adjusting the roll angle or pitch angle of the sensor. Similarly, the rotation of the third adjustment seat 40 may not be conducive to adjusting the pitch angle of the sensor, but may be conducive to adjusting the roll angle or yaw angle of the sensor. As an example, the rotation of the first adjustment seat 20 is conducive to adjusting the yaw angle of the sensor, the rotation of the second adjustment seat 30 is conducive to adjusting the pitch angle of the sensor, and the rotation of the third adjustment seat 40 is conducive to adjusting the roll angle of the sensor.
[0043] In some optional examples, such as Figure 3 、 Figure 4 As shown, the second adjustment seat 30 may include:
[0044] Bottom plate 301, bottom plate 301 is rotatably connected to mounting base 10;
[0045] The first side plate 303 and the second side plate 305 are respectively provided at both ends of the bottom plate 301 . The first side plate 303 and the second side plate 305 are arranged opposite to each other. The first side plate 303 and the second side plate 305 are rotatably connected to the third adjustment seat 40 respectively.
[0046] Optionally, the first side plate 303 may be located at one end of the bottom plate 301 (eg Figure 3 、 Figure 4 The second side plate 305 may be located at the other end of the bottom plate 301 (eg Figure 3 、 Figure 4 The first side panel 303 and the second side panel 305 may be parallel or substantially parallel. The bottom panel 301, the first side panel 303, and the second side panel 305 may be integrally formed, or the bottom panel 301, the first side panel 303, and the second side panel 305 may be formed separately and then assembled together.
[0047] The following is an example of the rotational connection between the bottom plate 301 and the mounting base 10.
[0048] In some optional embodiments of the present disclosure, such as Figure 3 、 Figure 4 As shown, the bottom plate 301 may be provided with a first oblong arc-shaped hole 3011 along the connecting line direction of the first side plate 303 and the second side plate 305. The connecting line direction of the first side plate 303 and the second side plate 305 may be understood as the direction from the first side plate 303 to the second side plate 305, or the direction from the second side plate 305 to the first side plate 303. Figure 3 As shown, the mounting base 10 may be provided with a connecting groove 101 corresponding to the first oblong arc hole 3011 .
[0049] like Figure 3 As shown, the installation device may further include:
[0050] A first screw connector 50 and a second screw connector (not shown), wherein the head of the first screw connector 50 is confined within the connecting groove 101, and the rod of the first screw connector 50 is passed through the first oblong hole 3011 and is screwed to the second screw connector;
[0051] The relative positions of the first oblong arc-shaped hole 3011 and the connecting groove 101 can be adjusted to facilitate adjustment of the yaw angle of the sensor.
[0052] Optionally, the connection slot 101 may be formed by one end of the mounting base 10 (eg Figures 1 to 3 The left end shown) extends to the other end (eg Figure 1 、 Figure 2 The head of the first screw connection member 50 can be slidably confined in the dovetail groove.
[0053] Alternatively, the first screw connector 50 may be a bolt, in which case the head of the first screw connector 50 may be a bolt head, and the shank of the first screw connector 50 may be a screw rod, and the shank of the first screw connector 50 may have external threads. The second screw connector may be a nut that matches the bolt, and the second screw connector may have internal threads. The size of the head of the first screw connector 50 may be larger than the size of the notch of the connecting groove 101, so that the head of the first screw connector 50 can be confined within the connecting groove 101 and cannot fall out from above the mounting base 10. The shank of the first screw connector 50 may extend outside the connecting groove 101, and the shank of the first screw connector 50 may pass through the first oblong arc hole 3011 and the second screw connector from bottom to top, and the external threads of the shank of the first screw connector 50 may engage with the internal threads of the second screw connector, thereby enabling the connection between the base plate 301 and the mounting base 10 to be achieved through the first screw connector 50 and the second screw connector.
[0054] It should be noted that, through the cooperation of the first oblong hole 3011 and the connecting groove 101, a certain degree of rotational freedom can be achieved between the base plate 301 and the mounting base 10. When the relative positions of the first oblong hole 3011 and the connecting groove 101 change, so that the base plate 301 rotates relative to the mounting base 10, the sensor will rotate around the Y axis of the coordinate system to adjust the yaw angle of the sensor. For example, referring to Figure 5 , the yaw angle can be adjusted by at most L°.
[0055] In some embodiments, if the connecting groove 101 is a dovetail groove, the head of the first screw member 50 can be slid in the dovetail groove according to actual needs. Accordingly, the entire first connecting member 50 can be moved along the length direction of the mounting base 10. On this basis, the adjustment assembly composed of the first adjustment seat 20, the second adjustment seat 30 and the third adjustment seat 40 can also be moved along the length direction of the mounting base 10, for example, along Figure 6 Move in the direction indicated by the arrow J. Figure 2 As shown, the sensor can be a camera 45, and the number of cameras 45 and adjustment components can be two. The two cameras 45 can form a binocular camera. Then, by moving at least one of the two adjustment components along the length direction of the mounting base 10, the baseline length of the binocular camera can be adjusted.
[0056] In some embodiments, the number of connecting grooves 101 may be more than one, and the number of first oblong arc-shaped holes 3011 may also be more than one. In this case, the connection between the bottom plate 301 and the mounting base 10 can be achieved through one or more first screw connectors 50 and one or more second screw connectors. It should be noted that in order to avoid the bottom plate 301 being too large, the number of first oblong arc-shaped holes 3011 should not be too large.
[0057] The following describes the rotational connection between the first side plate 303 and the second side plate 305 and the third adjustment seat 40 , respectively, with examples.
[0058] In some optional embodiments of the present disclosure, such as Figure 7-1 、 Figure 7-2 As shown, the third adjustment seat 40 may include:
[0059] The vertical plate 401, the first adjustment seat 20 is rotatably connected to the vertical plate 401;
[0060] The first plate structure 403 and the second plate structure 405 are arranged on the same side of the vertical plate 401. The first plate structure 403 and the second plate structure 405 are arranged opposite to each other. The first plate structure 403 is rotatably connected to the first side plate 303, and the second plate structure 405 is rotatably connected to the second side plate 305.
[0061] Optionally, the first plate structure 403 and the second plate structure 405 can be parallel or substantially parallel. The vertical plate 401, the first plate structure 403 and the second plate structure 405 can be integrally formed, or the vertical plate 401, the first plate structure 403 and the second plate structure 405 can be formed separately and then assembled together.
[0062] In some optional embodiments of the present disclosure, such as Figure 4 As shown, the first side plate 303 may be provided with a second oblong arc hole 3031, as shown in FIG. Figure 7-1 、 Figure 7-2 As shown, the first plate structure 403 may be provided with a first threaded hole 4031 corresponding to the second oblong arc hole 3031. Figure 4 As shown, the second side plate 305 may be provided with a third oblong arc hole 3051, as shown in FIG. Figure 7-1 、 Figure 7-2 As shown, the second plate structure 405 may be provided with a second threaded hole 4051 corresponding to the third oblong arc hole 3051 .
[0063] like Figures 1 to 3 As shown, the installation device may further include:
[0064] A third screw connection member 60 , wherein the rod portion of the third screw connection member 60 is passed through the second oblong arc hole 3031 and the first threaded hole 4031 and is screwed to the first plate structure 403 ;
[0065] a fourth screw connection member (not shown), the rod of which passes through the third oblong hole 3051 and the second threaded hole 4051 and is screwed to the second plate structure 405;
[0066] The relative positions of the second oblong hole 3031 and the first threaded hole 4031 can be adjusted, and the relative positions of the third oblong hole 3051 and the second threaded hole 4051 can be adjusted, so as to facilitate adjustment of the pitch angle of the sensor.
[0067] Alternatively, the third screw connector 60 may be a bolt, and the fourth screw connector may also be a bolt, so that the rod portion of the third screw connector 60 and the rod portion of the fourth screw connector may each have an external thread. The rod portion of the third screw connector 60 may sequentially pass through the second oblong arc hole 3031 and the first threaded hole 4031, and the external thread of the rod portion of the third screw connector 60 may engage with the internal thread of the first threaded hole 4031. Similarly, the rod portion of the fourth screw connector may sequentially pass through the third oblong arc hole 3051 and the second threaded hole 4051, and the external thread of the rod portion of the fourth screw connector may engage with the internal thread of the second threaded hole 4051. Thus, the third screw connector and the fourth screw connector can realize the connection between the first plate structure 403 and the first side plate 303, and the connection between the second plate structure 405 and the second side plate 305.
[0068] It should be noted that, through the cooperation of the second long circular arc hole 3031 and the first threaded hole 4031, a certain degree of rotational freedom can be achieved between the first plate structure 403 and the first side plate 303. Through the cooperation of the third long circular arc hole 3051 and the second threaded hole 4051, a certain degree of rotational freedom can be achieved between the second plate structure 405 and the second side plate 305. When the relative positions of the second long circular arc hole 3031 and the first threaded hole 4031 change, and when the relative positions of the third long circular arc hole 3051 and the second threaded hole 4051 change, the first plate structure 403 rotates relative to the first side plate 303, and the second plate structure 405 rotates relative to the second side plate 305, the sensor rotates around the X-axis of the coordinate system to adjust the pitch angle of the sensor. For example, referring to Figure 8 , the pitch angle can be adjusted at most S°.
[0069] In the embodiment of the present disclosure, the second adjustment base 30 includes a base plate 301, a first side plate 303, and a second side plate 305. That is, the second adjustment base 30 is composed of multiple plates. Therefore, the manufacturing cost and installation cost of the second adjustment base 30 are relatively low. In addition, the third adjustment base 40 includes a vertical plate 401, a first plate structure 403, and a second plate structure 405. That is, the third adjustment base 40 is composed of multiple plates. Therefore, the manufacturing cost and installation cost of the third adjustment base 40 are relatively low.
[0070] In the above, examples are given to introduce the rotational connection between the first side plate 303 and the second side plate 305 and the third adjustment seat 40. Based on the rotational connection described in the examples, Figure 4 As shown, the first side plate 303 may also be provided with a first circular hole 3033, and the distance between the location of the first circular hole 3033 and the bottom plate 301 may be greater than the distance between the location of the second long circular arc hole 3031 and the bottom plate 301. For example, the first circular hole 3033 may be provided above the second long circular arc hole 3031, so that the first circular hole 3033 is further away from the bottom plate 301 than the second long circular arc hole 3031. Figure 7-1 、 Figure 7-2 As shown, the first plate structure 403 may be provided with a third threaded hole 4032 corresponding to the first circular hole 3033 .
[0071] Similarly, if Figure 4 As shown, the second side plate 305 may also be provided with a second circular hole 3053, and the distance between the location of the second circular hole 3053 and the bottom plate 301 may be greater than the distance between the location of the third long circular arc hole 3051 and the bottom plate 301. For example, the second circular hole 3053 may be located above the third long circular arc hole 3051, so that the second circular hole 3053 is further away from the bottom plate 301 than the third long circular arc hole 3051. Figure 7-1 、 Figure 7-2 As shown, the second plate structure 405 may be provided with a fourth threaded hole 4052 corresponding to the second circular hole 3053 .
[0072] like Figures 1 to 3 As shown, the installation device may further include:
[0073] A fifth screw member 70 , wherein the rod portion of the fifth screw member 70 is passed through the first circular hole 3033 and the third threaded hole 4032 and is screwed to the first plate structure 403 ;
[0074] The sixth screw connection member 75 has a rod portion that passes through the second circular hole 3053 and the fourth threaded hole 4052 and is screwed to the second plate structure 405 .
[0075] Alternatively, the fifth screw member 70 may be a bolt, and the sixth screw member 75 may also be a bolt, so that the rod portion of the fifth screw member 70 and the rod portion of the sixth screw member 75 may each have an external thread. In addition, the first circular hole 3033 may be a light hole, and the second circular hole 3053 may also be a light hole.
[0076] In the embodiment of the present disclosure, the rod portion of the fifth screw connector 70 can pass through the first circular hole 3033 and the third threaded hole 4032 in sequence, and the external thread of the rod portion of the fifth screw connector 70 can be engaged with the internal thread of the third threaded hole 4032. Similarly, the rod portion of the sixth screw connector 75 can pass through the second circular hole 3053 and the fourth threaded hole 4052 in sequence, and the external thread of the rod portion of the sixth screw connector 75 can be engaged with the internal thread of the fourth threaded hole 4052. Thus, the connection between the first plate structure 403 and the first side panel 303, and the connection between the second plate structure 405 and the second side panel 305 can be achieved through the fifth screw connector 70 and the sixth screw connector 75. In this way, the first plate structure 403 and the first side panel 303 are connected not only through the third screw connector 60, but also through the fifth screw connector 70, which is conducive to ensuring the reliability of the connection between the first plate structure 403 and the first side panel 303. Similarly, the second plate structure 405 and the second side plate 305 are connected not only by the fourth screw member, but also by the sixth screw member 75 , which helps to ensure the connection reliability between the second plate structure 405 and the second side plate 305 .
[0077] In some optional examples, such as Figure 7-1 、 Figure 7-2 As shown, the first plate structure 403 may include:
[0078] A first transverse plate 4033 , wherein the first threaded hole 4031 is provided on the first transverse plate 4033 ;
[0079] The second transverse plate 4034 and the third threaded hole 4032 are disposed on the second transverse plate 4034 , and a gap is defined between the second transverse plate 4034 and the first transverse plate 4033 .
[0080] Optionally, the first transverse plate 4033 and the second transverse plate 4034 may be parallel or substantially parallel. The location of the first threaded hole 4031 on the first transverse plate 4033 and the location of the third threaded hole 4032 on the second transverse plate 4034 may be aligned with each other.
[0081] In the embodiment of the present disclosure, the first plate structure 403 includes a first transverse plate 4033 and a second transverse plate 4034. That is, the first plate structure 403 is composed of multiple plates, and the manufacturing cost of the first plate structure 403 is relatively low. The gap between the first transverse plate 4033 and the second transverse plate 4034 helps reduce the material required to manufacture the first plate structure 403, thereby further reducing the manufacturing cost of the first plate structure 403.
[0082] Similar to the first plate structure 403, the second plate structure 405 may include:
[0083] A third transverse plate 4053, wherein the second threaded hole 4051 is provided on the third transverse plate 4053;
[0084] The fourth transverse plate 4054 and the fourth threaded hole 4052 are disposed on the fourth transverse plate 4054 , and a gap is defined between the third transverse plate 4053 and the fourth transverse plate 4054 .
[0085] In the embodiment of the present disclosure, the second plate structure 405 includes a third transverse plate 4053 and a fourth transverse plate 4054. That is, the second plate structure 405 is composed of multiple plates, and the manufacturing cost of the second plate structure 405 is relatively low. The gap between the third transverse plate 4053 and the fourth transverse plate 4054 helps reduce the material required to manufacture the second plate structure 405, thereby further reducing the manufacturing cost of the second plate structure 405.
[0086] In some optional examples, such as Figure 7-1 、 Figure 7-2 As shown, the third adjustment seat 40 may include:
[0087] The vertical plate 401, the first adjustment seat 20 is rotatably connected to the vertical plate 401;
[0088] The first plate structure 403 and the second plate structure 405 are arranged on the same side of the vertical plate 401 . The first plate structure 403 and the second plate structure 405 are arranged opposite to each other. The first plate structure 403 and the second plate structure 405 are rotatably connected to the second adjustment seat 30 respectively.
[0089] Optionally, the first plate structure 403 and the second plate structure 405 can be parallel or substantially parallel. The vertical plate 401, the first plate structure 403, and the second plate structure 405 can be integrally formed, or the vertical plate 401, the first plate structure 403, and the second plate structure 405 can be formed separately and then assembled together. The second adjustment seat 30 can include a first side plate 303 and a second side plate 305. The first plate structure 403 can be rotatably connected to the first side plate 303, and the second plate structure 405 can be rotatably connected to the second plate structure 405.
[0090] The following is an example of the rotational connection between the first adjustment seat 20 and the vertical plate 401.
[0091] In some optional embodiments of the present disclosure, such as Figure 9-1 、 Figure 9-2 As shown, the first adjustment seat 20 may be provided with a fourth long arc hole 201 along the circumferential direction, as shown in FIG. Figure 7-1 、 Figure 7-2 As shown, the vertical plate 401 may be provided with a fifth threaded hole 4011 corresponding to the fourth oblong arc hole 201;
[0092] like Figure 1 As shown, the installation device may further include:
[0093] A seventh screw connector 80 , the rod of which passes through the fourth oblong hole 201 and the fifth threaded hole 4011 and is screwed to the vertical plate 401 ;
[0094] The relative positions of the fourth oblong arc hole 201 and the fifth threaded hole 4011 can be adjusted to facilitate adjustment of the roll angle of the sensor.
[0095] Alternatively, the seventh screw member 80 may be a bolt, and thus the stem of the seventh screw member 80 may be threaded. The stem of the seventh screw member 80 may sequentially pass through the fourth oblong hole 201 and the fifth threaded hole 4011, and the external thread of the stem of the seventh screw member 80 may engage with the internal thread of the fifth threaded hole 4011, thereby achieving the connection between the first adjustment seat 20 and the vertical plate 401 through the seventh screw member 80.
[0096] It should be noted that, through the cooperation of the fourth oblong hole 201 and the fifth threaded hole 4011, a certain degree of rotational freedom can be provided between the first adjustment seat 20 and the vertical plate 401. When the relative positions of the fourth oblong hole 201 and the fifth threaded hole 4011 change, the first adjustment seat 20 rotates relative to the vertical plate 401, and the sensor rotates around the Z axis of the coordinate system to adjust the roll angle of the sensor. For example, referring to Figure 10 , the roll angle can be adjusted by at most R°.
[0097] In some embodiments, the number of the fourth long arc-shaped hole 201 and the fifth threaded hole 4011 can be multiple, for example, four. The multiple fourth long arc-shaped holes 201 can be evenly distributed relative to the first adjustment seat 20, and the multiple fifth threaded holes 4011 can be evenly distributed relative to the vertical plate 401.
[0098] In some optional examples, such as Figure 7-1 、 Figure 7-2 As shown, the vertical plate 401 may be provided with a central through hole 4013; Figure 9-2As shown, the first adjustment seat 20 can be provided with a limiting protrusion 203 , the shape of which can be adapted to the shape of the central through hole 4013 ; the limiting protrusion 203 passes through the central through hole 4013 and abuts against the hole wall of the central through hole 4013 .
[0099] Optionally, there may be multiple limiting protrusions 203 , for example, four, and the multiple limiting protrusions 203 may be evenly distributed relative to the first adjustment seat 20 .
[0100] Optionally, the central through hole 4013 may be a circular hole, and the limiting protrusion 203 may be an elongated arc-shaped protrusion, so that the limiting protrusion 203 can fit more tightly against the hole wall of the central through hole 4013 .
[0101] In the embodiment of the present disclosure, the limiting protrusion 203 can pass through the central through hole 4013 and abut against the hole wall of the central through hole 4013. The cylindrical limiting effect of the limiting protrusion 203 can minimize the relative rotation of the first adjustment seat 20 and the third adjustment seat 40 after installation.
[0102] In some optional examples, such as Figure 11 As shown, the installation device may further include:
[0103] The distance scale 85 is disposed on the outer wall of the mounting base 10 , and the distance scale 85 and the mounting base 10 are aligned with each other.
[0104] Optionally, the distance scale 85 can be engraved by laser. The center of the distance scale 85 can be a zero scale starting line, and the scale value can increase to the left or right from the starting line.
[0105] In the embodiment of the present disclosure, by setting the distance scale 85, the current position of the adjustment component (composed of the first adjustment seat 20, the second adjustment seat 30 and the third adjustment seat 40) along the length direction of the installation base 10 can be clearly understood manually, which is convenient for manual adjustment of the position of the adjustment component according to actual needs, and is conducive to improving the installation efficiency of the installation device.
[0106] In some optional examples, the installation device may further include:
[0107] The centerline indicator mark is set on the outer wall of the mounting base 10, and the centerline indicator mark is aligned with the mounting base 10.
[0108] Alternatively, the centerline indicator mark can be engraved by laser. As an example, the zero scale starting line of the distance scale 85 can be used as the centerline indicator mark. Of course, a centerline indicator mark independent of the distance scale 85 can also be specially engraved.
[0109] In the embodiment of the present disclosure, by setting the center line indicator mark, the position of the adjustment component (composed of the first adjustment seat 20, the second adjustment seat 30 and the third adjustment seat 40) relative to the center of the mounting base 10 can be manually clearly determined, so as to provide a reference for adjusting the position of the adjustment component, which is beneficial to improving the installation efficiency of the mounting device.
[0110] An embodiment of the present disclosure further provides a vehicle, comprising:
[0111] Vehicle body;
[0112] The installation device in any of the above embodiments, such as Figure 2 、 Figure 3 As shown, the mounting base 10 in the mounting device is mounted on the vehicle body via a fixing support 90 .
[0113] Alternatively, the vehicle body may refer to a component of the vehicle that is used to implement various conventional functions (eg, driving function, cockpit function). The specific implementation of the mounting device can refer to the relevant introduction above and will not be repeated here.
[0114] Optionally, the mounting base 10 can be mounted on the vehicle body via one or more fixing brackets 90. The connection between the mounting base 10 and the fixing brackets 90 can include, but is not limited to, screwing, clamping, welding, etc. The connection between the fixing brackets 90 and the vehicle body can include, but is not limited to, screwing, clamping, welding, bonding, etc.
[0115] In the embodiments of the present disclosure, not only can the sensor be installed on the mounting base 10 so that the sensor can be fixed to a predetermined position of the vehicle through the mounting base 10, but the yaw angle, pitch angle and / or roll angle of the sensor can also be adjusted to adjust the actual posture of the sensor to the design posture. In this way, the actual posture of the sensor can be made basically consistent with the design posture, thereby correcting the installation error of the sensor.
[0116] In some optional examples, such as Figure 12 As shown, the fixed support 90 may include:
[0117] The support body 901 is mounted on the vehicle body and carries the mounting base 10;
[0118] A first protrusion 903 and a second protrusion 905 are provided at both ends of the support body 901. The first protrusion 903 and the second protrusion 905 are arranged opposite to each other, and the mounting base 10 is located between the first protrusion 903 and the second protrusion 905;
[0119] A first connecting structure, wherein the mounting base 10 is fixedly connected to the first protruding portion 903 via the first connecting structure;
[0120] The second connection structure, the mounting base 10 is fixedly connected to the second protrusion 905 through the second connection structure.
[0121] Optionally, the bracket body 901 can be fixed to the vehicle body by screwing, clamping, welding, bonding, etc. The bracket body 901 can bear the mounting base 10 on the top surface.
[0122] Optionally, the first protrusion 903 may be located at one end of the support body 901 (eg Figure 12 The second protrusion 905 may be located at the other end of the support body 901 (eg Figure 12 The first protrusion 903 and the second protrusion 905 can be parallel or substantially parallel. The mounting base 10 can be placed between the first protrusion 903 and the second protrusion 905.
[0123] Optionally, the second connection structure may include Figure 2 、 Figure 3 The eighth screw member 95 shown in FIG. 8 may be a bolt. Figure 3 As shown, a mounting groove 103 may be provided on one side of the mounting base 10. The mounting groove 103 may be a dovetail groove. The head of the eighth screw member 95 may be slidably confined within the mounting groove 103. The rod of the eighth screw member 95 may be screwed to the second protrusion 905. Thus, a fixed connection between the mounting base 10 and the second protrusion 905 may be achieved through the second connection structure. The method of achieving a fixed connection between the mounting base 10 and the first protrusion 903 through the first connection structure is similar to this, and will not be further described in this disclosure. In the above description, the first connection structure and the second connection structure are specifically screw connection structures. In some embodiments, the first connection structure and the second connection structure may be snap-on structures.
[0124] In the embodiment of the present disclosure, the mounting base 10 can be supported by the support body 901, and the mounting base 10 can be located between the first protrusion 903 and the second protrusion 905. In addition, the first protrusion 903 and the second protrusion 905 can be fixedly connected to the mounting base 10 through corresponding connection structures, respectively, thereby limiting the mounting support 10 from both sides to ensure the reliability and stability of the installation of the mounting support 10.
[0125] In summary, in the embodiments of the present disclosure, the mounting device can be used not only to achieve posture adjustment of the sensor, but also to achieve position adjustment of the sensor, which is conducive to correcting the installation error of the sensor, such as correcting the angle installation error, position installation error, etc. of the sensor, ensuring the reliability of the data collected by the sensor, thereby ensuring the reliability of autonomous driving.
[0126] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, rather than as limitations. These details do not limit the present disclosure to necessarily being implemented using these specific details.
[0127] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.
[0128] Those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include these modifications and variations.
Claims
1. A sensor mounting device, comprising: Install the base; A first adjustment seat, a second adjustment seat and a third adjustment seat, the first adjustment seat is used to install the sensor, the second adjustment seat is rotatably connected to the mounting base, and the third adjustment seat is rotatably connected to the first adjustment seat and the second adjustment seat respectively. Rotation of at least one of the first adjustment seat, the second adjustment seat and the third adjustment seat is conducive to adjusting the yaw angle, pitch angle and / or roll angle of the sensor.
2. The mounting device according to claim 1, wherein: The first adjustment seat rotates to adjust the roll angle of the sensor, the second adjustment seat rotates to adjust the yaw angle of the sensor, and the third adjustment seat rotates to adjust the pitch angle of the sensor.
3. The mounting device according to claim 1, wherein: The second adjustment seat includes: a bottom plate, the bottom plate being rotatably connected to the mounting base; A first side plate and a second side plate are respectively arranged at both ends of the bottom plate, the first side plate and the second side plate are arranged opposite to each other, and the first side plate and the second side plate are respectively rotatably connected to the third adjustment seat.
4. The mounting device according to claim 3, wherein: The bottom plate is provided with a first long arc hole along the connecting direction of the first side plate and the second side plate, and the mounting base is provided with a connecting groove corresponding to the first long arc hole; The installation device also includes: a first screw connector and a second screw connector, wherein the head of the first screw connector is defined in the connecting groove, and the stem of the first screw connector is passed through the first oblong arc hole and is screwed to the second screw connector; The relative positions of the first oblong arc-shaped hole and the connecting groove can be adjusted to facilitate adjustment of the yaw angle of the sensor.
5. The mounting device according to claim 3, wherein: The third adjustment seat includes: A vertical plate, wherein the first adjustment seat is rotatably connected to the vertical plate; A first plate structure and a second plate structure are arranged on the same side of the vertical plate, the first plate structure and the second plate structure are arranged opposite to each other, the first plate structure is rotatably connected to the first side plate, and the second plate structure is rotatably connected to the second side plate.
6. The mounting device according to claim 5, wherein: The first side plate is provided with a second oblong arc hole, and the first plate structure is provided with a first threaded hole corresponding to the second oblong arc hole; the second side plate is provided with a third oblong arc hole, and the second plate structure is provided with a second threaded hole corresponding to the third oblong arc hole; The installation device also includes: a third screw connection member, wherein the rod portion of the third screw connection member is passed through the second oblong arc hole and the first threaded hole and is screwed to the first plate structure; a fourth screw connection member, wherein the rod portion of the fourth screw connection member is passed through the third oblong arc hole and the second threaded hole and is screwed to the second plate structure; The relative positions of the second oblong arc hole and the first threaded hole can be adjusted, and the relative positions of the third oblong arc hole and the second threaded hole can be adjusted, so as to facilitate adjustment of the pitch angle of the sensor.
7. The mounting device according to claim 6, wherein: The first side plate is further provided with a first circular hole, the distance between the location of the first circular hole and the bottom plate being greater than the distance between the location of the second oblong circular hole and the bottom plate being greater, and the first plate structure is provided with a third threaded hole corresponding to the first circular hole; the second side plate is further provided with a second circular hole, the distance between the location of the second circular hole and the bottom plate being greater than the distance between the location of the third oblong circular hole and the bottom plate being greater, and the second plate structure is provided with a fourth threaded hole corresponding to the second circular hole; The installation device also includes: a fifth screw connection member, wherein the rod portion of the fifth screw connection member is passed through the first circular hole and the third threaded hole and is screwed to the first plate structure; A sixth screw connection member, wherein the rod portion of the sixth screw connection member is passed through the second circular hole and the fourth threaded hole and is screwed to the second plate structure.
8. The mounting device according to claim 7, wherein: The first plate structure includes: a first transverse plate, wherein the first threaded hole is provided on the first transverse plate; The second transverse plate, the third threaded hole is provided on the second transverse plate, and there is a gap between the second transverse plate and the first transverse plate.
9. The mounting device according to claim 1, wherein: The third adjustment seat includes: A vertical plate, wherein the first adjustment seat is rotatably connected to the vertical plate; The first plate structure and the second plate structure are arranged on the same side of the vertical plate, the first plate structure and the second plate structure are arranged opposite to each other, and the first plate structure and the second plate structure are respectively rotatably connected to the second adjustment seat.
10. The mounting device according to claim 9, wherein: The first adjustment seat is provided with a fourth long arc-shaped hole along the circumferential direction, and the vertical plate is provided with a fifth threaded hole corresponding to the fourth long arc-shaped hole; The installation device also includes: a seventh screw connection member, wherein the rod portion of the seventh screw connection member is passed through the fourth oblong arc hole and the fifth threaded hole and is screwed to the vertical plate; The relative positions of the fourth oblong arc hole and the fifth threaded hole can be adjusted to facilitate adjustment of the roll angle of the sensor.
11. The mounting device according to claim 9, wherein: The vertical plate is provided with a central through hole; The first adjustment seat is provided with a limiting protrusion, the shape of which matches the shape of the central through hole; The limiting protrusion passes through the central through hole and abuts against the hole wall of the central through hole.
12. The mounting device according to any one of claims 1 to 11, further comprising: A distance scale, the distance scale being arranged on an outer wall of the mounting base, the distance scale being aligned with the mounting base; and / or, A centerline indicator mark is provided on the outer wall of the mounting base, and the centerline indicator mark is aligned with the mounting base.
13. A vehicle comprising: Vehicle body; The mounting device according to any one of claims 1 to 12, wherein the mounting base in the mounting device is mounted to the vehicle body via a fixed support.
14. The vehicle according to claim 13, wherein: The fixed support comprises: A support body, the support body being mounted on the vehicle body and carrying the mounting base; a first protrusion and a second protrusion provided at both ends of the support body, the first protrusion and the second protrusion being arranged opposite to each other, and the mounting base being located between the first protrusion and the second protrusion; a first connecting structure, wherein the mounting base is fixedly connected to the first protrusion via the first connecting structure; A second connecting structure, wherein the mounting base is fixedly connected to the second protruding portion through the second connecting structure.