Camera adjusting device and automatic driving vehicle

Abstract

The utility model provides a camera adjusting device and an automatic driving vehicle, and relates to the technical field of automatic driving, in particular to the technical field of vehicle-mounted cameras. The camera adjusting device comprises at least one camera; the camera is connected with the mounting bracket; the rotating shaft is fixedly connected with the mounting bracket; the mounting base is rotationally connected with the rotating shaft, and the mounting base is used for fixing the camera adjusting device at a preset mounting position; the first driving motor is connected with the rotating shaft; the control module is electrically connected with the driving motor; and the control module is used for controlling the first driving motor to drive the mounting bracket and the camera to rotate relative to the mounting base through the rotating shaft when determining that the camera deviates.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, in particular to the field of vehicle-mounted camera technology, and more particularly to a camera adjustment device and an autonomous driving vehicle. Background Art

[0002] With the continuous development of autonomous driving technology, cameras, as one of the core sensors in autonomous driving systems, play a vital role. Cameras are used to perceive the surrounding environment of autonomous vehicles and identify information such as pedestrians, vehicles, and road signs. The stability of cameras affects the safety of the entire autonomous driving system. Utility Model Content

[0003] The present disclosure provides a camera adjustment device and an autonomous driving vehicle.

[0004] According to one aspect of the present disclosure, a camera adjustment device is provided, comprising: at least one camera; a mounting bracket connected to the camera; a rotating shaft fixedly connected to the mounting bracket; a mounting base rotatably connected to the rotating shaft, the mounting base being used to fix the camera adjustment device in a preset mounting position; a first drive motor connected to the rotating shaft; a control module electrically connected to the drive motor; the control module being used to control the first drive motor to drive the mounting bracket and the camera to rotate relative to the mounting base via the rotating shaft when it is determined that the camera has a position offset.

[0005] In some embodiments, the mounting bracket includes: a first mounting plate and at least two mounting ears, the first mounting plate is provided with multiple first mounting holes, and the cameras are respectively installed in the corresponding first mounting holes; the mounting ears are connected to the first mounting plate; multiple mounting ears are distributed at intervals along the axial direction of the rotating shaft; at least one mounting ear is provided with a first axial hole, and the rotating shaft is fixed in the first axial hole.

[0006] In some embodiments, at least two of the mounting ears are respectively disposed adjacent to two opposite edges of the first mounting plate.

[0007] In some embodiments, the mounting bracket also includes: a first folding plate, the first folding plate is connected to the first mounting plate, the first folding plate is folded relative to the first mounting plate, and the length direction of the first folding plate is parallel to the axial direction of the rotating shaft; the mounting ear is connected to the first folding plate.

[0008] In some embodiments, the mounting bracket further includes: a second folding plate, folded relative to the first mounting plate; the second folding plate is respectively connected to two opposite edges of the first mounting plate, and the second folding plate is connected to at least one of the mounting ears.

[0009] In some embodiments, the mounting bracket further includes: a third folding plate, the third folding plate being connected to the side of the first mounting plate facing away from the mounting ear, the third folding plate being folded relative to the first mounting plate, and the length direction of the third folding plate being parallel to the axial direction of the rotating shaft.

[0010] In some embodiments, the size of the first mounting hole is larger than the size of the portion of the camera that cooperates with the first mounting hole, so that the first mounting hole can provide space for the camera to move relative to the mounting bracket.

[0011] In some embodiments, the mounting base includes: a second mounting plate and at least two third mounting plates, the second mounting plate is used to fix the camera adjustment device in a preset mounting position; the third mounting plate is connected to the second mounting plate, and at least two of the third mounting plates are connected to opposite sides of the second mounting plate; the third mounting plate is provided with a second axial hole, and the rotating shaft is rotatably provided in the second axial hole.

[0012] In some embodiments, at least two of the third mounting plates are respectively located on outer sides of two mounting ears in the mounting bracket that are opposite to each other.

[0013] In some embodiments, the rotating shaft includes a first sub-shaft and a second sub-shaft; the first sub-shaft is passed through the first axial hole of the mounting bracket, and the first sub-shaft is also passed through the corresponding second axial hole in the mounting base; the second sub-shaft is spline-connected to the first drive motor; the second sub-shaft is fixedly connected to the mounting support ear near one of the edges of the mounting bracket, and the second sub-shaft is passed through the corresponding second axial hole in the mounting base.

[0014] In some embodiments, the first drive motor comprises a stepper motor.

[0015] In some embodiments, the camera adjustment device further includes: a detection element for detecting the position of the mounting bracket, and the detection element is electrically connected to the control module.

[0016] In some embodiments, the detection element includes a transmitter for emitting a light signal and a receiver for receiving a light signal; one of the transmitter and the receiver is fixedly connected to the mounting bracket and is arranged near the edge of the mounting bracket toward the rotating axis; the other of the transmitter and the receiver is fixedly connected to the mounting base.

[0017] In some embodiments, multiple cameras are arranged side by side along a first direction; the first drive motor drives the mounting bracket and the camera to rotate relative to the mounting base within a pitch angle adjustment range through the rotating shaft; the rotation direction of the mounting bracket relative to the mounting base is perpendicular to the first direction.

[0018] According to another aspect of the present disclosure, an autonomous driving vehicle is provided, comprising a camera adjustment device according to any one of the foregoing items.

[0019] The camera adjustment device and autonomous driving vehicle provided by the present disclosure can compensate for the camera's field of view deviation caused by camera position offset by automatically adjusting the camera position, so that the camera can provide accurate detection information, thereby improving driving safety.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0022] Figure 1 This is a scene diagram of a camera adjustment device provided according to an embodiment of the present disclosure. Figure 1 ;

[0023] Figure 2 This is a scene diagram of a camera adjustment device provided according to an embodiment of the present disclosure. Figure 2 ;

[0024] Figure 3 This is a schematic diagram of the structure of a camera adjustment device provided according to an embodiment of the present disclosure. Figure 1 ;

[0025] Figure 4 This is a schematic diagram of the structure of a camera adjustment device provided according to an embodiment of the present disclosure. Figure 2 ;

[0026] Figure 5 is a structural diagram of a camera and a mounting bracket provided according to an embodiment of the present disclosure;

[0027] Figure 6 1 is a schematic diagram of electrical connections in a camera adjustment device according to an embodiment of the present disclosure;

[0028] Figure 7 This is a schematic diagram of electrical connections in a camera adjustment device provided according to another embodiment of the present disclosure.

[0029] Explanation of the reference numerals: 100-camera adjustment device; 110-camera; 111-first end; 112-middle part; 113-second end; 120-mounting bracket; 121-first mounting plate; 121a-first mounting hole; 122-mounting ear; 122a-first axial hole; 123-first folding plate; 124-second folding plate; 125-third folding plate; 130-rotating axis; 131-second sub-axis; 132-first sub-axis; 140-mounting base; 141-second mounting plate; 142-third mounting plate; 150-first drive motor; 160-control module; 161-computing unit; 162-controller; 170-detection element; 200-front windshield. DETAILED DESCRIPTION

[0030] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0031] As one of the core sensors of the autonomous driving system, the stability of the camera affects the safety of the entire autonomous driving system.

[0032] In related technologies, metal brackets are often used to mount and secure cameras due to their high strength and durability. However, in extreme environments such as extreme cold or heat, the metal brackets can undergo dimensional changes due to thermal expansion and contraction, causing the camera to shift in position.

[0033] A shift in the camera's position will cause the camera's installation angle to change, and a slight change in the camera's installation angle may cause its field of view to shift, resulting in obstacles or road signs (such as traffic lights) that should have been accurately captured not being correctly identified or detected, thereby reducing the accuracy of the camera's detection results.

[0034] Inaccurate or biased camera detection information can lead to biased decisions in autonomous driving systems. These biases can affect critical driving maneuvers like acceleration, deceleration, and steering, preventing the system from making correct driving decisions and posing a serious threat to driving safety. For example, in traffic light recognition, if the camera is installed at an offset angle, a red light could be mistakenly interpreted as green, potentially leading to a traffic accident.

[0035] This embodiment provides a camera adjustment device that can compensate for the camera's field of view offset caused by the camera's position offset by automatically adjusting the camera angle, so that the camera can provide accurate detection information, which is beneficial for the automatic driving system to make accurate driving judgments in decision-making, thereby improving driving safety.

[0036] The structure, function and implementation process of the camera adjustment device provided in this embodiment are illustrated below with reference to the accompanying drawings.

[0037] Figure 1 is a side schematic diagram of a camera adjustment device provided according to an embodiment of the present disclosure when installed on a front windshield; Figure 2 This is a rear view of a camera adjustment device provided according to an embodiment of the present disclosure when installed on a front windshield; Figure 3 This is a schematic diagram of the three-dimensional structure of the camera adjustment device provided in accordance with an embodiment of the present disclosure, in which the first drive motor is hidden; Figure 4 is a rear view of a camera adjustment device provided according to an embodiment of the present disclosure; Figure 5 is a schematic diagram of the three-dimensional structure of a camera and a mounting bracket provided according to an embodiment of the present disclosure; Figure 6 This is a schematic diagram of electrical connections in a camera adjustment device provided according to an embodiment of the present disclosure.

[0038] Please refer to Figures 1 to 6 The camera adjustment device 100 provided in this embodiment includes: a camera 110, a mounting bracket 120, a rotating shaft 130, a mounting base 140, a first driving motor 150 and a control module 160.

[0039] like Figures 2 to 5 As shown, there is at least one camera 110. When there is one camera 110, the camera 110 can be a monocular camera, a binocular camera, or a multi-camera camera. When there are multiple cameras 110, the types, performance parameters, and other information of the multiple cameras 110 can be the same or different. For example, in order to reduce costs, at least one camera 110 can be a monocular camera. For example, multiple cameras 110 can each be a monocular camera. For another example, some cameras 110 can be monocular cameras, and some cameras 110 can be binocular cameras or multi-cameras. The specific number, type, and performance parameters of the cameras 110 can be selected according to actual needs and are not limited here. The following description will be based on the example of multiple cameras 110.

[0040] Multiple cameras 110 can be arranged side by side. The direction in which the cameras 110 are arranged side by side can be set according to actual needs. For example, when multiple cameras 110 are used to collect environmental information in front of a vehicle, the multiple cameras 110 can be arranged side by side along the vehicle's transverse direction (i.e., the first direction, i.e., the left-right direction of the vehicle). For ease of description, this embodiment will use this as an example.

[0041] In other examples, when multiple cameras 110 are used to collect environmental information on the side of the vehicle, the multiple cameras 110 can also be arranged side by side along the longitudinal direction of the vehicle (i.e., the front-to-back direction of the vehicle). Alternatively, the multiple cameras 110 can also be arranged side by side along the vertical direction of the vehicle (i.e., the up-down direction of the vehicle).

[0042] The multiple cameras 110 can be arranged in a row to facilitate miniaturization of the camera adjustment device 100. For example, if there are four cameras 110, the four cameras 110 can be distributed in a row along the lateral direction of the vehicle. In other examples, the multiple cameras 110 can also be arranged in two or more rows.

[0043] like Figures 3 to 5 As shown, multiple cameras 110 are mounted on mounting brackets 120. Mounting brackets 120 are generally elongated, with their length parallel to the vehicle's lateral direction. Mounting brackets 120 are provided with multiple first mounting holes 121a. The number of first mounting holes 121a can be equal to the number of cameras 110, and the distribution of first mounting holes 121a corresponds to the distribution of cameras 110.

[0044] The cameras 110 can be fixedly connected to the mounting bracket 120 by a detachable connection method such as a snap connection or a fastening connection. In this way, if one of the cameras 110 fails, the camera 110 can be removed individually for inspection or replacement. In other examples, the cameras 110 can also be fixedly connected to the mounting bracket 120 by welding or interference fit.

[0045] Camera 110 has a first end 111, a middle portion 112, and a second end 113. Middle portion 112 is connected between first end 111 and second end 113, and second end 113 engages with first mounting hole 121a. The cross-sectional area of ​​middle portion 112, perpendicular to the axis of camera 110, is larger than the cross-sectional area of ​​second end 113. For example, at least two opposing sides of middle portion 112 extend beyond second end 113 along a direction perpendicular to the axis of camera 110.

[0046] In some examples, a portion of the middle portion 112 extending beyond the second end portion 113 is provided with a first threaded hole. The mounting bracket 120 is provided with a first through-hole. The camera adjustment device 100 further includes a first screw that passes through the first through-hole and engages with the first threaded hole to securely connect the camera 110 to the mounting bracket 120. To improve the installation reliability of the camera 110, the camera 110 is secured to the mounting bracket 120 using at least two first screws.

[0047] In this example, the camera 110 is directly connected to the mounting bracket 120 by the first screw, which can simplify the dimensional chain during the assembly process of the camera 110 and reduce assembly errors, thereby ensuring the accuracy of the installation of the camera 110.

[0048] In other examples, an intermediate connector may be used to connect the camera 110 to the mounting bracket 120; for example, the camera 110 is inserted into the first mounting hole 121a, and the portion of the camera 110 extending out of the first mounting hole 121a can cooperate with the mounting code, which is fastened to the mounting bracket 120 by a second screw.

[0049] The mounting bracket 120 is fixedly connected to the rotating shaft 130. In some examples, the mounting bracket 120 is provided with a first shaft hole 122a, and the rotating shaft 130 is fixed in the first shaft hole 122a. The rotating shaft 130 can be interference fit with the first shaft hole 122a, or the rotating shaft 130 can be engaged with the first shaft hole 122a via a flat key. In order to improve the reliability of the connection, there can be multiple first shaft holes 122a, and the multiple first shaft holes 122a are distributed at intervals. In other examples, there can be only one first shaft hole 122a, and the first shaft hole 122a has a preset length along its axial direction to improve the reliability of the connection.

[0050] In other examples, the rotating shaft 130 and the mounting bracket 120 may also be integrally provided through an integral molding process.

[0051] The mounting base 140 is provided with a second axial hole, in which a rolling bearing may be disposed, and the rotating shaft 130 engages with the rolling bearing. To improve connection reliability, the mounting base 140 may be provided with multiple second axial holes, which may be spaced apart along its axial direction. In other examples, the mounting base 140 may be provided with a single second axial hole having a predetermined length along its axial direction.

[0052] Mounting base 140 may include an adhesive layer for bonding to a component at a predetermined mounting location. For example, when camera adjustment device 100 is mounted on a vehicle's front windshield 200, the adhesive layer in mounting base 140 may bond and secure to the front windshield 200. In other examples, mounting base 140 may also be secured to the vehicle body using fasteners such as screws.

[0053] The rotating shaft 130 is also connected to the first driving motor 150 , and the rotating shaft 130 can transmit the driving force provided by the first driving motor 150 to the mounting bracket 120 and the camera 110 , so that the mounting bracket 120 and the camera 110 can rotate relative to the mounting base 140 .

[0054] The mounting bracket 120 and the camera 110 can rotate relative to the mounting base 140 in a direction perpendicular to the direction in which the multiple cameras 110 are arranged side by side. For example, when multiple cameras 110 are arranged side by side in the transverse direction of the vehicle, the mounting bracket 120 and the camera 110 can rotate relative to the mounting base 140 within the pitch angle adjustment range, thereby adjusting the pitch angle of the camera 110. The pitch angle adjustment range can be adjusted according to actual needs.

[0055] In order to simplify the structure of the camera adjustment device 100 and facilitate miniaturization, the output shaft of the first driving motor 150 is spline-connected to the rotating shaft 130 .

[0056] In other examples, the output shaft of the first drive motor 150 can also be connected to the rotating shaft 130 through a coupling, or the output shaft of the first drive motor 150 can be connected to the rotating shaft 130 through a gear transmission assembly, as long as the driving force output by the first drive motor 150 can be transmitted to the rotating shaft 130.

[0057] like Figure 6 As shown, the first drive motor 150 is electrically connected to the control module 160 so that when the installation angle of the camera 110 needs to be adjusted, the control module 160 can send a control signal to the first drive motor 150. The control module 160 may include a computing unit 161 and a controller 162, and the controller 162 is electrically connected to the first drive motor 150.

[0058] The computing unit 161 may include a hardware component with data processing capabilities, such as a computing chip. The computing unit 161 may be a computing chip in an autonomous driving system. In other examples, the computing unit 161 may also include a relatively independent computing chip.

[0059] The computing unit 161 can be in communication connection with the camera 110 to receive the detection information sent by the camera 110; wherein the detection information includes images. After receiving the images sent by the camera 110, the computing unit 161 can process and analyze the images by using image processing algorithms to determine whether the camera 110 has occurred position deviation. If it is determined that the position of the camera 110 has deviated, the computing unit 161 sends an adjustment instruction to the controller 162.

[0060] After receiving the adjustment instruction from the computing unit 161, the controller 162 converts the adjustment instruction into a control signal recognizable by the first driving motor 150, and sends the control signal to the first driving motor 150. Wherein, the controller 162 has the performance of fast response and accurate control, to ensure that the controller 162 can timely convert the adjustment instruction into the control signal, and can timely and accurately convey the control instruction to the first driving motor 150.

[0061] For example, the computing unit 161 receives the images sent by the camera 110, and the computing unit 161 can obtain the world coordinate system of the target reference object such as the traffic light according to the high-precision map. The computing unit 161 obtains the relative position relationship of the current installation position of the camera 110 relative to the vehicle body coordinate system, and the computing unit 161 can obtain the pixel coordinates of the traffic light in the two-dimensional coordinate system of the image based on the above information. The computing unit 161 compares the pixel coordinates with the image recognition result to obtain the deviation between the true value and the calculated value of the relative position relationship of the current installation position of the camera 110 relative to the vehicle body coordinate system.

[0062] The computing unit 161 can obtain the execution action amount of the first driving motor 150 based on the deviation, generate an adjustment instruction based on the execution action amount of the first driving motor 150 and send it to the controller 162; or, the computing unit 161 generates an adjustment instruction based on the deviation and sends it to the controller 162, and the controller 162 obtains the execution action amount of the first driving motor 150 based on the deviation in the adjustment instruction.

[0063] The camera adjusting device 100 provided by the embodiment can automatically trigger the first driving motor 150 to drive the rotating shaft 130 to rotate when it is determined that the camera 110 has occurred position deviation, and the rotating shaft 130 can drive the mounting bracket 120 and the camera 110 to rotate relative to the mounting base 140, thereby realizing the automatic adjustment of the angle of the camera 110, compensating for the visual field deviation of the camera 110 caused by the position deviation of the camera 110, and enabling the camera 110 to provide accurate detection information, thereby improving the driving safety. Moreover, the embodiment can save maintenance time and cost by automatically adjusting the position of the camera 110 without the need to recalibrate the camera 110.

[0064] For example,Figures 3 to 5 As shown, in some embodiments, the mounting bracket 120 includes a first mounting plate 121 and at least two mounting ears 122. The mounting ears 122 are connected to the first mounting plate 121. To improve the strength of the mounting bracket 120, the mounting ears 122 and the first mounting plate 121 can be integrally formed using an integral molding process. At least one mounting ear 122 is provided with a first axial hole 122a.

[0065] The first mounting plate 121 can be in the shape of an elongated plate. The first mounting plate 121 can have a relatively small thickness to help reduce the weight of the mounting bracket 120. In some examples, the first mounting plate 121 can be a rectangular plate; the first mounting plate 121 can have a long edge parallel to its length (i.e., the transverse direction of the vehicle) and a wide edge parallel to its width. The mounting lug 122 is provided near the long edge of the first mounting plate 121, or the mounting lug 122 can be provided near the wide edge of the first mounting plate 121. In other examples, the first mounting plate 121 can also be an oblong plate.

[0066] Multiple mounting lugs 122 can be spaced apart along the axial direction of the rotating shaft 130. In some examples, to improve connection reliability and simplify the structure of the mounting bracket 120, there are two mounting lugs 122, and the two mounting lugs 122 are disposed near one of the long edges of the first mounting plate 121, and the two mounting lugs 122 are disposed near the two wide edges of the first mounting plate 121.

[0067] By arranging two of the mounting ears 122 close to the two wide edges of the first mounting plate 121, a relatively large space is created between the mounting bracket 120 and the mounting base 140. This space can be used to arrange other components, thereby improving the compactness of the vehicle structure when the camera adjustment device is applied to the vehicle.

[0068] In other examples, there may be three or more mounting ears 122 ; the multiple mounting ears 122 are respectively arranged on the long edges of the first mounting plate 121 , wherein two mounting ears 122 are respectively arranged close to the two wide edges of the first mounting plate 121 .

[0069] At least one mounting lug 122 may be provided with a first axial hole 122a. In some examples, each of the plurality of mounting lugs 122 may be provided with a first axial hole 122a. Thus, during assembly, the mounting bracket 120 and the mounting base 140 may be pre-positioned before the rotating shaft 130 is inserted into the first axial hole 122a of the mounting bracket 120 and the second axial hole of the mounting base 140. This reduces the difficulty of assembling the mounting bracket 120, the mounting base 140, and the rotating shaft 130.

[0070] In other examples, the rotating shaft 130 can include multiple sub-shafts, and one surface of the mounting lug 122 can be fixedly connected to one of the sub-shafts; in assembly, the sub-shaft can be inserted into the corresponding second shaft hole first, and then the other sub-shafts are inserted into the first shaft hole 122a and the second shaft hole.

[0071] In this embodiment, the above arrangement is conducive to ensuring the connection reliability of the rotating shaft 130 and the mounting bracket 120, and conducive to reducing the assembly difficulty of the mounting bracket 120, the mounting base 140, and the rotating shaft 130.

[0072] In other examples, the mounting bracket 120 can also have one mounting lug 122, and the mounting lug 122 extends along the axial direction of the first shaft hole 122a by a predetermined length, so as to ensure the connection reliability of the mounting lug 122 and the rotating shaft 130.

[0073] In some examples, the mounting bracket 120 further includes a first folded plate 123, the first folded plate 123 is connected to the first mounting plate 121, the first folded plate 123 is folded relative to the first mounting plate 121, and the first folded plate 123 extends along the axial direction of the rotating shaft 130, so that the length direction of the first folded plate 123 is parallel to the axial direction of the rotating shaft 130 (i.e., the transverse direction of the vehicle); the mounting lug 122 is connected to the first folded plate 123.

[0074] The first folded plate 123 can be connected perpendicularly to the first mounting plate 121, and this will be taken as an example for description. In other examples, the first folded plate 123 and the first mounting plate 121 can also have a predetermined included angle, which can be set according to actual needs.

[0075] The first folded plate 123 is connected to the multiple mounting lugs 122 respectively, and the first folded plate 123 can extend by a predetermined distance in a direction perpendicular to the first mounting plate 121, so that the mounting lug 122 and the first folded plate 123 have a relatively large connection area, which is conducive to improving the strength of the mounting lug 122, thereby improving the connection reliability of the mounting bracket 120 and the rotating shaft 130, and further improving the mounting reliability of the camera 110.

[0076] In some examples, the mounting bracket 120 further includes a second folded plate 124, which is folded relative to the first mounting plate 121; the second folded plate 124 is connected to the part of the first mounting plate 121 close to the two wide edges respectively, and the mounting lug 122 close to the two wide edges of the first mounting plate 121 is also connected to the second folded plate 124, which can improve the strength of the mounting lug 122, thereby improving the connection reliability of the mounting bracket 120 and the rotating shaft 130, and further improving the mounting reliability of the camera 110.

[0077] The second folding plate 124 can be arranged perpendicular to the first mounting plate 121 and the first folding plate 123. The second folding plate 124 can be located on the side of the first mounting plate 121 facing the first end 111 of the camera 110. This ensures that the camera adjustment device 100 maintains a good overall appearance and aesthetics when mounted on the front windshield 200. In other examples, the second folding plate 124 can be located on the side of the first mounting plate 121 facing away from the first end 111; or, a portion of the second folded edge can be located on the side of the first mounting plate 121 facing the first end 111 of the camera 110, while another portion of the second folding plate 124 can be located on the side of the first mounting plate 121 facing away from the first end 111.

[0078] In other examples, at least one second folding plate 124 can be connected to the first mounting plate 121 and located between two adjacent cameras 110, so as to improve the strength of the mounting bracket 120 and enable the mounting bracket 120 to have a larger surface area, so that the mounting bracket 120 made of metal material has a relatively good heat dissipation effect.

[0079] In some embodiments, the mounting bracket 120 also includes: a third folding plate 125, the third folding plate 125 is connected to the side of the first mounting plate 121 away from the mounting ear 122, the third folding plate 125 is folded relative to the first mounting plate 121, and the length direction of the third folding plate 125 is parallel to the axial direction of the rotating shaft 130.

[0080] The third folding plate 125 can be connected to the lower edge of the first mounting plate 121. The third folding plate 125 is located on the side of the first mounting plate 121 that faces the first end 111 of the camera 110. This ensures that the camera adjustment device 100 maintains a good overall appearance and aesthetics when mounted on the front windshield 200.

[0081] A relatively small gap can be formed between the third folding plate 125 and the middle portion 112 of the camera 110. Thus, after the camera adjustment device 100 is mounted on the front windshield 200, if the connection between the camera 110 and the mounting bracket 120 becomes loose, and the first end portion 111 and the middle portion 112 of the camera 110 tend to move downward, the third folding plate 125 can support the camera 110, thereby ensuring the reliable installation of the camera 110.

[0082] The dimension of the third folding plate 125 along the axial direction of the camera 110 may be smaller than or equal to the dimension of the middle portion 112 of the camera 110 along this direction, so as to help reduce the weight of the mounting bracket 120 .

[0083] The third folding plate 125 may also be connected to the second folding plate 124 to further improve the strength of the mounting bracket 120 .

[0084] In addition, the provision of the third folding plate 125 also enables the mounting bracket 120 to have a larger surface area, so that the mounting bracket 120 made of metal material has a relatively good heat dissipation effect.

[0085] In this embodiment, the first folding plate 123 , the second folding plate 124 , the third folding plate 125 , the first mounting plate 121 and the mounting lug 122 may be integrally formed using an integral molding process.

[0086] In some examples, the size of the first mounting hole 121a is larger than the size of the portion of the camera 110 that cooperates with the first mounting hole 121a, so that the first mounting hole 121a can provide movement space for the camera 110, thereby facilitating fine-tuning of the portion of the camera 110 that has shifted in position when part of the camera 110 shifts in position, thereby ensuring the accuracy of the field of view of the camera 110.

[0087] Exemplarily, the camera adjustment device 100 further includes a second drive motor, the output shaft of which is fixedly connected to the camera 110. For example, the output shaft of the second drive motor is fixedly connected to the connecting post of the middle portion 112 of the camera 110, so that the second drive motor can drive the camera 110 to rotate. The output shaft of the second drive motor can be fixedly connected to the connecting post of the camera 110 via a coupling. The second drive motor can be fixed to the mounting bracket 120. The second drive motor can be electrically connected to the control module 160, and the strategy used by the control module 160 to control the second drive motor can be similar to the strategy used by the control module 160 to control the first drive motor 150.

[0088] It can be understood that: in order to facilitate the control module 160 to control the second drive motor to make individual adjustments to the corresponding camera 110, the second end 113 of the camera 110 can be inserted into the first mounting hole 121a of the mounting bracket 120, and the camera 110 is no longer fastened or clamped to the mounting bracket 120. The camera 110 is relatively fixed to the mounting bracket 120 through the second drive member.

[0089] In other examples, after loosening the first screw, the position of the camera 110 may be adjusted manually.

[0090] like Figures 1 to 3As shown, in some embodiments, the mounting base 140 includes a second mounting plate 141 and a third mounting plate 142. The second mounting plate 141 is used to secure the camera adjustment device 100 in a predetermined mounting position. The second mounting plate 141 is connected to the third mounting plate 142 and can be integrally formed with the second mounting plate 141 using an integral molding process. The third mounting plate 142 is provided with a second axial hole, and the rotating shaft 130 is rotatably disposed in the second axial hole.

[0091] The second mounting plate 141 can be in the shape of an elongated plate, for example, a rectangular plate. Along the axial direction of the rotation shaft 130 , the length of the second mounting plate 141 can be greater than the length of the first mounting plate 121 , thereby increasing the bonding area between the mounting base 140 and the front windshield 200 .

[0092] To improve the connection reliability between the rotating shaft 130 and the mounting base 140, multiple third mounting plates 142 may be provided. The multiple third mounting plates 142 may be spaced apart along the axial direction of the rotating shaft 130. At least two of the third mounting plates 142 are positioned adjacent to the two wide edges of the second mounting plate 141, respectively. This allows the third mounting plates 142 to be positioned adjacent to the mounting ears 122 of the mounting bracket 120, thereby facilitating the positioning of the third mounting plates 142 and the mounting ears 122 for easier assembly.

[0093] The at least two third mounting plates 142 can be located on opposite sides of the corresponding two mounting ears 122. For example, one or more third mounting plates 142 can be provided on the outside of the mounting ears 122. In this way, when the mounting bracket 120 and the camera 110 rotate relative to the mounting base 140, interference between the mounting bracket 120 and the mounting base 140 can be avoided.

[0094] In other examples, the third mounting plate 142 may also be located on the inner sides of the two mounting ears 122 . Accordingly, an avoidance groove is provided on the third mounting plate 142 or on the mounting bracket 120 to prevent the mounting bracket 120 from interfering with the mounting base 140 .

[0095] In other embodiments, the third mounting plate 142 may have one; along the axial direction of the rotating shaft 130 , the third mounting plate 142 has a preset length to facilitate ensuring reliability between the mounting base 140 and the rotating shaft 130 .

[0096] like Figure 1 、 Figure 3 and Figure 5As shown, in some embodiments, the rotation axis 130 includes a first sub-axis 132 and a second sub-axis 131. The first sub-axis 132 and the second sub-axis 131 can be coaxial and independently arranged, thereby facilitating a reduction in weight of the camera adjustment device 100 and allowing for a relatively large space between the mounting bracket 120 and the mounting base 140, which can be used to arrange other components.

[0097] The first sub-shaft 132 is engaged with a first shaft hole 122a defined in one of the mounting ears 122, and the first sub-shaft 132 is engaged with a second shaft hole defined in one of the third mounting plates 142. For example, one end of the first sub-shaft 132 may be interference fit with the first shaft hole 122a, and the other end of the first sub-shaft 132 may pass through the second shaft hole and engage with the shaft seat.

[0098] The second sub-shaft 131 is connected to a mounting lug 122 near one of the wide edges of the mounting bracket 120. The second sub-shaft 131 can be fixedly connected to the outer side of the mounting lug 122 facing away from the other mounting lug 122. The mounting lug 122 may not have the first shaft hole 122a. Alternatively, the second sub-shaft 131 can be interference fit with the first shaft hole 122a.

[0099] The second sub-shaft 131 can also pass through the second axial hole of the third mounting plate 142 and connect to the first drive motor 150. The second sub-shaft 131 is provided with an external spline, and the first drive motor 150 is provided with an internal spline. The diameter of the portion of the second sub-shaft 131 provided with the external spline can be larger than the diameter of the other portion. In this way, the connection between the portion of the second sub-shaft 131 provided with the external spline and the other portion can form a limiting surface, which can be used to prevent axial movement between the second sub-shaft 131 and the third mounting plate 142. Alternatively, the second sub-shaft 131 is provided with an internal spline, and the first drive motor 150 is provided with an external spline.

[0100] The first drive motor 150 can be fixedly connected to the third mounting plate 142 closer to the connection portion to ensure the installation reliability of the first drive motor 150; for example, the first drive motor 150 can be detachably connected to the third mounting plate 142 by a plurality of second screws.

[0101] In other embodiments, the first sub-shaft 132 may also be integrally provided with the second sub-shaft 131 .

[0102] In some embodiments, in order to fine-tune the angle of the camera 110 and improve the adjustment accuracy of the camera 110 , the first driving motor 150 may be a stepper motor or a servo motor.

[0103] like Figure 7As shown, in some embodiments, the camera adjusting device 100 further comprises a detection element 170 for detecting the position change of the mounting bracket 120; the detection element 170 is electrically connected with the control module 160.

[0104] For example, after receiving the detection signal of the detection element 170, the control module 160 processes the detection signal to determine the actual adjustment amount of the camera 110, matches the actual adjustment amount of the camera 110 with the deviation between the real value and the calculated value of the relative position relationship of the camera 110 relative to the vehicle body coordinate system, or matches the actual adjustment amount of the camera 110 with the execution action amount of the first driving motor 150, and if the matching is successful, it is determined that the camera 110 is adjusted in place; if the matching is not successful, the camera 110 is continuously adjusted, thereby facilitating to ensure the accuracy of the field of view of the camera 110.

[0105] In some examples, the detection element 170 can include a photoelectric sensor. The photoelectric sensor includes a transmitter for emitting a light signal and a receiver for receiving the light signal. One of the transmitter and the receiver is fixedly connected with the mounting bracket 120 and is arranged close to the edge of the mounting bracket 120 towards the rotating shaft 130; the other of the transmitter and the receiver is fixedly connected with the mounting base 140.

[0106] For example, the transmitter is fixedly connected with the mounting bracket 120, and the receiver is fixedly connected with the mounting bracket 120. The transmitter can be arranged close to one of the long edges of the mounting bracket 120, for example, the first mounting plate 121. In the process of rotating the mounting bracket 120 by the first driving motor 150, the transmitter moves together with the mounting bracket 120, and the position of the light signal emitted by the transmitter on the light-sensitive surface of the receiver will change accordingly. The transmitter sends the change amount of the position of the light signal emitted by the transmitter on the light-sensitive surface of the receiver to the control module 160. In other examples, without interfering with the camera 110, the transmitter can also be installed at other positions of the mounting bracket 120.

[0107] In other examples, the transmitter can also be installed on the mounting base 140, and the receiver can be installed on the surface of the first mounting plate 121 in the mounting bracket 120.

[0108] In other embodiments, the detection element 170 can also include a capacitive sensor or other proximity sensor.

[0109] The other configurations of the camera adjusting device 100 in the above embodiments can adopt various technical solutions known to those skilled in the art now and in the future, which will not be described in detail here.

[0110] This embodiment further provides an autonomous driving vehicle, including a vehicle body, the vehicle body being equipped with a front windshield 200, and the mounting base 140 of the camera adjustment device 100 being connected to the front windshield 200. In other examples, the vehicle body may also be equipped with a window glass, and the mounting base 140 of the camera adjustment device 100 may also be connected to a component such as the window glass. The specific installation location of the mounting base 140 of the camera adjustment device 100 can be selected according to actual needs.

[0111] In the description of this specification, it should be understood that the terms "vertical", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0112] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0113] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0114] In the present disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0115] The disclosure above provides many different embodiments or examples to realize the different BW241024ADPO1.1 241282E-U-CP-BAIDU-CN structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described above. Of course, they are merely examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0116] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A camera adjustment device, characterized in that: include: At least one camera; a mounting bracket connected to the camera; a rotating shaft, the rotating shaft being fixedly connected to the mounting bracket; a mounting base, the mounting base being rotatably connected to the rotating shaft, and the mounting base being used to fix the camera adjustment device at a preset mounting position; a first driving motor connected to the rotating shaft; a control module, the control module being electrically connected to the drive motor; The control module is configured to control the first drive motor to drive the mounting bracket and the camera to rotate relative to the mounting base via the rotating shaft when determining that the camera has shifted in position.

2. The camera adjustment device according to claim 1, characterized in that: The mounting bracket includes: a first mounting plate and at least two mounting ears, the first mounting plate is provided with a plurality of first mounting holes, and the cameras are respectively mounted in the corresponding first mounting holes; The mounting lugs are connected to the first mounting plate; a plurality of the mounting lugs are spaced apart along the axial direction of the rotating shaft; At least one of the mounting lugs is provided with a first axial hole, and the rotating shaft is fixed in the first axial hole.

3. The camera adjustment device according to claim 2, characterized in that: At least two of the mounting ears are respectively arranged close to two opposite edges of the first mounting plate.

4. The camera adjustment device according to claim 2, characterized in that: The mounting bracket also includes: a first folding plate, the first folding plate is connected to the first mounting plate, the first folding plate is folded relative to the first mounting plate, and the length direction of the first folding plate is parallel to the axial direction of the rotating shaft; the mounting lug is connected to the first folding plate.

5. The camera adjustment device according to claim 2, characterized in that: The mounting bracket further includes: a second folding plate, which is folded relative to the first mounting plate; the second folding plate is respectively connected to two opposite edges of the first mounting plate, and the second folding plate is connected to at least one of the mounting ears.

6. The camera adjustment device according to claim 2, characterized in that: The mounting bracket also includes: a third folding plate, which is connected to the side of the first mounting plate away from the mounting ear, the third folding plate is folded relative to the first mounting plate, and the length direction of the third folding plate is parallel to the axial direction of the rotating shaft.

7. The camera adjustment device according to claim 2, characterized in that: The size of the first mounting hole is larger than the size of the portion of the camera that cooperates with the first mounting hole, so that the first mounting hole can provide space for the camera to move relative to the mounting bracket.

8. The camera adjustment device according to claim 1, characterized in that: The mounting base includes: a second mounting plate and at least two third mounting plates, the second mounting plate being used to fix the camera adjustment device at a preset mounting position; The third mounting plate is connected to the second mounting plate, and at least two third mounting plates are connected to opposite sides of the second mounting plate; The third mounting plate is provided with a second shaft hole, and the rotating shaft is rotatably provided in the second shaft hole.

9. The camera adjustment device according to claim 8, characterized in that: At least two of the third mounting plates are respectively located on outer sides of two mounting ears in the mounting bracket that are away from each other.

10. The camera adjustment device according to any one of claims 1 to 9, characterized in that: The rotating shaft includes a first sub-shaft and a second sub-shaft; The first sub-shaft is inserted into the first axial hole of the mounting bracket, and the first sub-shaft is also inserted into the corresponding second axial hole in the mounting base; The second sub-shaft is spline-connected to the first drive motor; The second sub-shaft is fixedly connected to a mounting lug close to one edge of the mounting bracket, and the second sub-shaft is passed through a corresponding second shaft hole in the mounting base.

11. The camera adjustment device according to any one of claims 1 to 9, characterized in that: The first driving motor includes a stepping motor.

12. The camera adjustment device according to any one of claims 1 to 9, characterized in that: Also includes: A detection element is used to detect the position of the mounting bracket, and the detection element is electrically connected to the control module.

13. The camera adjustment device according to claim 12, characterized in that: The detection element includes a transmitter for emitting light signals and a receiver for receiving light signals; one of the transmitter and the receiver is fixedly connected to the mounting bracket and is arranged close to the edge of the mounting bracket facing the rotating shaft; the other of the transmitter and the receiver is fixedly connected to the mounting base.

14. The camera adjustment device according to any one of claims 1 to 9, characterized in that: The plurality of cameras are arranged side by side along a first direction; The first driving motor drives the mounting bracket and the camera to rotate relative to the mounting base within a pitch angle adjustment range via the rotating shaft; A rotation direction of the mounting bracket relative to the mounting base is perpendicular to the first direction.

15. An autonomous driving vehicle, characterized in that: The device comprises a camera adjustment device according to any one of claims 1 to 14.

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