Angle-adjustable sensor device, autonomous vehicle and robot

Abstract

The utility model provides an angle-adjustable sensor device, an automatic driving vehicle and a robot, and relates to the technical field of automatic driving. The sensor device includes: a housing enclosing at least a portion of a sensor, the housing including a first mounting portion and a second mounting portion; the first bracket is connected with the first mounting part; the second bracket is connected with the second mounting part; the second transmission part is linked with the first transmission part, the first transmission part is connected with the first support, and the second transmission part is rotationally connected with the second support; the connecting piece penetrates through the second bracket and is connected with the second mounting part of the shell; when the first transmission piece is operated in the first direction parallel to the axial direction of the first transmission piece, the second transmission piece rotates in the second direction, so that the shell changes the angle relative to the second support around the connecting piece in the second direction. When the first transmission part is operated in the third direction parallel to the axial direction of the first transmission part, the second transmission part rotates in the fourth direction, so that the shell changes the angle relative to the second support around the connecting part in the fourth direction.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and more particularly to the field of vehicle perception technology, specifically to an angle-adjustable sensor device, an autonomous vehicle, and a robot. Background Technology

[0002] Autonomous vehicles, also known as driverless vehicles, rely on technologies such as sensors and artificial intelligence algorithms to achieve autonomous driving. These sensors include cameras, LiDAR sensors, and millimeter-wave radar sensors. How to install sensors on autonomous vehicles is one of the research topics for those skilled in the art. Utility Model Content

[0003] This disclosure provides an angle-adjustable sensor device, an autonomous vehicle, and a robot.

[0004] According to one aspect of this disclosure, an angle-adjustable sensor device is provided, comprising: a sensor; a housing enclosing at least a portion of the sensor, the housing including a first mounting portion on a first surface and a second mounting portion on a second surface; a first bracket connected to the first mounting portion of the housing; a second bracket connected to the second mounting portion of the housing; a transmission assembly including a first transmission member and a second transmission member linked to the first transmission member, the first transmission member being connected to the first bracket and the second transmission member being rotatably connected to the second bracket; and a connector passing through the second bracket and connected to the second mounting portion of the housing; wherein, in response to the first transmission member being operated along a first direction, the first direction being parallel to the axial direction of the first transmission member, the second transmission member rotates along a second direction, causing the housing to change angle relative to the second bracket within a first angle adjustment range about the connector along the second direction; and in response to the first transmission member being operated along a third direction, the third direction being parallel to the axial direction of the first transmission member, the second transmission member rotates along a fourth direction, causing the housing to change angle relative to the second bracket within a second angle adjustment range about the connector along the fourth direction.

[0005] In some embodiments, the sensor device further includes: a stop connected to the first transmission member; when the housing is adjusted to a target angle, the stop is operated to prevent linkage between the first transmission member and the second transmission member and to lock the housing at the target angle.

[0006] In some embodiments, when the housing needs to be angled, the stop is operated to release the first transmission member from locking, thereby providing the first transmission member with room to move.

[0007] In some embodiments, the first transmission member includes a transmission rod having a first external thread portion, and the second transmission member includes a first internal thread hole, wherein the transmission rod is inserted into the first internal thread hole and the first external thread portion engages with the first internal thread hole.

[0008] In some embodiments, the second transmission member includes a main body and rotating portions located on both sides of the main body, the main body being provided with the first internal threaded hole; the second bracket includes a receiving portion extending away from the first surface of the housing; the rotating portions are received by the receiving portion to rotate along the second direction or the fourth direction.

[0009] In some embodiments, the stop includes a stop nut that engages with a first external thread portion of the first transmission member.

[0010] In some embodiments, in response to the locking nut being operated in a direction away from the second transmission member, the first transmission member can move relative to the second transmission member.

[0011] In some embodiments, in response to the stop nut being operated in a direction toward the second transmission member, the stop nut is able to abut against the second transmission member.

[0012] In some embodiments, the stop nuts include two nuts, which are located on opposite sides of the second transmission member.

[0013] In some embodiments, the second bracket includes a main frame spanning a first surface of the housing, the main frame being connected to a receiving portion extending away from the first surface of the housing; main frame through holes are respectively provided at two ends of the main frame, the main frame through holes being aligned with a second mounting portion of the housing, and the connector being rotatably disposed in the main frame through holes and connected to the second mounting portion.

[0014] In some embodiments, the main frame is further connected to a first engagement portion extending away from the housing; the first engagement portion is used to connect to a base to secure the sensor device to a preset mounting position.

[0015] In some embodiments, the first joint is disposed adjacent to the through hole of the main frame, and the orthographic projection of the first joint on the second surface is offset from the orthographic projection of the through hole of the main frame on the second surface.

[0016] In some embodiments, the first bracket includes a mounting plate and a second engagement portion extending from the mounting plate; the mounting plate is provided with a first bracket through hole, and the transmission rod of the first transmission member is rotatably disposed in the first bracket through hole; the first transmission member includes an operating portion connected to one end of the transmission rod, the operating portion being located on the side of the mounting plate opposite to the second transmission member; the second engagement portion is provided with a second engagement portion through hole aligned with the first mounting portion of the housing.

[0017] In some embodiments, the second mounting portion of the housing is provided with a second internal threaded hole; the connector includes a connecting rod, the connecting rod being provided with a second external threaded portion; the connecting rod is inserted into the second internal threaded hole, and the second external threaded portion engages with the second internal threaded hole.

[0018] In some embodiments, the first surface of the housing is the top wall of the housing, and the second surface of the housing is the side wall of the housing.

[0019] In some embodiments, the first support is disposed adjacent to a first edge of the top wall, and the second support is disposed adjacent to a second edge of the top wall, the second edge being opposite to the first edge.

[0020] In some embodiments, the sensor includes a camera.

[0021] In some embodiments, the first angle adjustment range includes a top-down angle adjustment range, and the second angle adjustment range includes a bottom-up angle adjustment range.

[0022] According to another aspect of this disclosure, an autonomous vehicle is provided, including the angle-adjustable sensor device described in any of the foregoing claims.

[0023] According to another aspect of this disclosure, a robot is provided, including the angle-adjustable sensor device described in any of the foregoing claims.

[0024] The angle-adjustable sensor device provided in this embodiment can not only install the sensor in a preset mounting position via a second bracket, but also adjust the angle of the sensor after the sensor device is installed and fixed, thereby improving the flexibility of the sensor device.

[0025] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0026] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0027] Figure 1 This is a schematic diagram of a sensor device provided according to an embodiment of the present disclosure. Figure 1 ;

[0028] Figure 2 This is a schematic diagram of a sensor and housing provided according to an embodiment of the present disclosure. Figure 1 ;

[0029] Figure 3 This is a schematic diagram of a sensor and housing provided according to an embodiment of the present disclosure. Figure 2 ;

[0030] Figure 4 This is a schematic diagram of a sensor device provided according to an embodiment of the present disclosure. Figure 2 ;

[0031] Figure 5 This is a partially exploded view of a sensor device according to an embodiment of the present disclosure;

[0032] Figure 6 This is a schematic diagram of a second transmission member according to an embodiment of the present disclosure;

[0033] Figure 7 This is a schematic diagram of a second transmission member and a second bracket according to an embodiment of the present disclosure;

[0034] Figure 8 This is a schematic diagram of a second support provided according to an embodiment of the present disclosure;

[0035] Figure 9 This is a schematic diagram of a sensor device provided according to another embodiment of the present disclosure. Figure 1 ;

[0036] Figure 10 This is a schematic diagram of a sensor device provided according to another embodiment of the present disclosure. Figure 2 ;

[0037] Figure 11 This is a schematic diagram of a first support provided according to an embodiment of the present disclosure;

[0038] Figure 12 This is a schematic diagram of the sensor device according to an embodiment of the present disclosure when the first transmission member is hidden;

[0039] Figure 13 This is a schematic diagram of a sensor device provided according to an embodiment of the present disclosure;

[0040] Figure 14 This is another schematic diagram of a sensor device provided according to an embodiment of the present disclosure.

[0041] Explanation of reference numerals in the attached drawings: 100-Sensor; 200-Housing; 210-First surface; 211-First mounting part; 220-Second surface; 221-Second mounting part; 300-Transmission assembly; 310-First transmission component; 311-Transmission rod; 312-Operating part; 320-Second transmission component; 321-Main body; 321a-First internal threaded hole; 322-Rotating part; 322a-Groove; 400-First bracket; 411-Mounting plate; 411a-First bracket through hole; 412-Second joint; 500-Second bracket; 510-Main frame; 510a-Main frame through hole; 511-First plate; 512-Second plate; 520-Receiving part; 520a-Rotating hole; 520b-Notch; 530-First joint; 600-Connecting part; 700-Stop part; 710-Stop nut; 800-Base; 810-Connecting plate; 820-Bottom plate; 830-Reinforcing plate. Detailed Implementation

[0042] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0043] The angle-adjustable sensor device provided in this embodiment can not only install the sensor in a preset mounting position through the second bracket, but also adjust the angle of the sensor after the sensor device is installed and fixed, so as to adjust the sensing range of the sensor, thereby improving the flexibility of the sensor device in the installation and use process.

[0044] The structure, function, and implementation process of the angle-adjustable sensor device of this embodiment will be illustrated below with reference to the accompanying drawings.

[0045] Please refer to Figures 1 to 3The angle-adjustable sensor device provided in this embodiment includes: a sensor 100; a housing 200 enclosing at least a portion of the sensor 100, the housing 200 including a first mounting portion 211 located on a first surface 210 of the housing and a second mounting portion 221 located on a second surface 220 of the housing; a first bracket 400 connected to the first mounting portion 211 of the housing 200; a second bracket 500 connected to the second mounting portion 221 of the housing 200; a transmission assembly 300 including a first transmission member 310 and a second transmission member 320 linked to the first transmission member 310, the first transmission member 310 being connected to the first bracket 400, and the second transmission member 320 being rotatably connected to the second bracket 500; and a connector 600 passing through the second bracket 500 and connected to the second mounting portion 221 of the housing 200.

[0046] In response to the first transmission member 310 being operated in a first direction parallel to its axial direction, the second transmission member 320 rotates in a second direction, causing the housing 200 to rotate relative to the second bracket 500 and change its angle about the connector 600 in a first angle adjustment range in the second direction; and in response to the first transmission member 310 being operated in a third direction parallel to its axial direction, the second transmission member 320 rotates in a fourth direction, causing the housing 200 to rotate relative to the second bracket 500 and change its angle about the connector 600 in a second angle adjustment range in the fourth direction.

[0047] Sensor 100 may include at least one of the following: a camera, a lidar sensor, a millimeter-wave radar sensor, an ultrasonic sensor, or an infrared sensor. The specific type of sensor 100 can be set according to actual needs.

[0048] Sensor 100 can be mounted within housing 200, which provides protection for sensor 100. In some examples, to prevent housing 200 from interfering with the sensing range of sensor 100, a portion of sensor 100 is enclosed within housing 200, while another portion is located outside housing 200; the portion of sensor 100 outside housing 200 is used to sense the measured information. In other examples, sensor 100 is enclosed within housing 200, and a sensing window is provided on housing 200, allowing sensor 100 to sense the measured information through the sensing window.

[0049] For ease of description, the following explanation will take the side of the sensor device that can sense the measured information as the front and the direction of gravity as the bottom (or base) as an example.

[0050] The outer casing 200 can be cylindrical, prismatic, or conical. The specific shape of the outer casing 200 can be set according to actual needs, as long as the receiving space provided by the outer casing 200 can accommodate at least a portion of the sensor 100. For ease of description, this embodiment will be described using a quadrangular prism shape as an example.

[0051] The first surface 210 of the housing 200 is provided with a first mounting portion 211, which is fixedly connected to the first bracket 400. Optionally, to improve the connection reliability between the first bracket 400 and the housing 200, the first mounting portion 211 includes a first boss extending from the housing 200; wherein the first boss may extend from the first surface 210 in a direction away from the receiving space. In other examples, the first mounting portion 211 may be a portion of the first surface 210 used for connection with the first bracket 400.

[0052] The first bracket 400 is used to mount the first transmission component 310. The first transmission component 310 can drive the housing 200 and the sensor 100 to rotate via the first bracket 400, thereby adjusting the angle of the sensor 100. The structure of the first bracket 400 can be set according to actual needs, as long as it can achieve the above-mentioned functions.

[0053] The second surface 220 of the housing 200 is provided with a second mounting portion 221, which is fixedly connected to the second bracket 500. Optionally, to improve the connection reliability between the second bracket 500 and the housing 200, the second mounting portion 221 includes a second boss extending from the housing 200; wherein the second boss may extend from the second surface 220 in a direction away from the receiving space. In other examples, the second mounting portion 221 may be a portion of the second surface 220 used for connection with the second bracket 500.

[0054] The second bracket 500 is used to mount the second transmission component 320, and the second bracket 500 is rotatably connected to the second transmission component 320. This allows the second transmission component 320 to rotate in conjunction with the first transmission component 310, moving the first bracket 400, the housing 200, and the sensor 100. The second bracket 500 can also be used to fix and mount the sensor device; for example, it can be used to mount the sensor device to the vehicle body or fuselage.

[0055] The connector 600 is used to connect the second bracket 500 to the second mounting portion 221 of the housing 200. The connector 600 is rotatably connected to one of the second mounting portion 221 and the second bracket 500, and is fixedly connected to the other of the second mounting portion 221 and the second bracket 500, so that the housing 200 and the sensor 100 can rotate relative to the second bracket 500 with the connector 600 as the rotation center, thereby realizing the adjustment of the angle of the sensor 100.

[0056] In this configuration, the second mounting portion 221 is offset from the first mounting portion 211 along the vertical direction. The first mounting portion 211 can be located above the second mounting portion 221. Optionally, the first surface 210 is the top wall of the housing 200, and the second surface 220 is the side wall of the housing 200. This allows for a relatively large distance between the connection point between the first mounting portion 211 on the first surface 210 and the first transmission member 310, and the connection point between the second mounting portion 221 on the second surface 220 and the second bracket 500 and connector 600. This provides a larger angular adjustment range for the housing 200 and the sensor 100, and improves the structural compactness of the sensor device. In other examples, the first surface 210 can also be the side wall of the housing 200; or the second surface 220 can also be the bottom wall of the housing 200.

[0057] To improve motion reliability, the two opposing second surfaces 220 of the housing 200 are each provided with a second mounting portion 221. Correspondingly, there may be two connectors 600, each engaging with one of the two second mounting portions 221, and the two connectors 600 are coaxially arranged. In other examples, without interfering with the sensor 100, there may also be one connector 600, which connects to both second mounting portions 221 and to the second bracket 500.

[0058] When it is necessary to adjust the sensor device and the angle of the sensor 100 needs to be adjusted within a first angular range, an external force is provided to the first transmission member 310, so that the first transmission member 310 can move along a first direction, which is parallel to the axial direction of the first transmission member 310. The second transmission member 320, which is linked with the first transmission member 310, will rotate along a second direction, so that the housing 200 can move along the second direction with the connector 600 as the rotation center, thereby adjusting the angle of the housing 200 and the sensor 100 within the first angular range.

[0059] In this design, the sensor 100, housing 200, and first bracket 400 are used as a rotating module. When the first transmission component 310 moves along the first direction, it transmits a force to the first bracket 400 along the first direction, and this force is tangent to the rotation direction of the rotating module.

[0060] When it is necessary to adjust the angle of sensor 100 within the second angular range, an external force is applied to the first transmission member 310, enabling it to move along a third direction parallel to the axial direction of the first transmission member 310. The second transmission member 320, linked to the first transmission member 310, will rotate along a fourth direction, thereby allowing the housing 200 to move along the fourth direction with the connector 600 as its rotation center. This allows for adjustment of the angles of the housing 200 and sensor 100 within the second angular range. The second direction can be opposite to the fourth direction.

[0061] In this design, the sensor 100, housing 200, and first bracket 400 are used as a rotating module. When the first transmission component 310 moves along a third direction, it transmits a force to the first bracket 400 along the third direction, and this force is tangent to the rotation direction of the rotating module.

[0062] To reduce costs, the external force can be provided by the operator, meaning the sensor device can be manually adjusted for angle control. Alternatively, to increase automation, the external force can be provided by the drive motor.

[0063] When the sensor 100 includes a camera, the camera can be a wide-angle camera. A wide-angle camera has a relatively wide field of view, and its horizontal field of view is usually sufficient. Optionally, the first angle adjustment range includes a top-down angle adjustment range, and the second angle adjustment range includes a bottom-up angle adjustment range, thereby satisfying adjustment requirements while simplifying the structure of the sensor device.

[0064] In other examples, the first or second angle adjustment range may also include angle adjustment ranges in other directions, such as heading angle adjustment ranges, roll angle adjustment ranges, etc. For example, the first angle adjustment range may include a top-down angle adjustment range or a bottom-up angle adjustment range, and the second angle adjustment range may include a heading angle adjustment range or a roll angle adjustment range. As another example, the first angle adjustment range may include a heading angle adjustment range or a roll angle adjustment range, and the second angle adjustment range may include a top-down angle adjustment range or a bottom-up angle adjustment range.

[0065] The angle-adjustable sensor device provided in this disclosure, after being installed and fixed by the second bracket, can drive the housing 200 and the sensor 100 to rotate around the connector 600 through the linkage of the first transmission component 310 and the second transmission component 320 in the transmission assembly 300. This allows for adjustment of the angle of the sensor 100, thereby adjusting the sensing range of the sensor 100 and providing high flexibility. In scenarios where the sensor device is installed, this embodiment reduces the requirements for the installation position, which helps to reduce the installation difficulty of the sensor device. In scenarios where the sensor device is used, if the position of the sensor 100 is offset due to factors such as vibration or large temperature differences, this embodiment can easily adjust the angle of the sensor 100 to compensate for the offset of the sensing range caused by the positional offset of the sensor 100, ensuring the accuracy of the sensing range of the sensor 100. This helps to shorten the testing cycle, development cycle, and maintenance cost of equipment (such as autonomous vehicles and robots) using the sensor device of this embodiment.

[0066] Please refer to Figures 4 to 5 In some embodiments, the first transmission member 310 includes a transmission rod 311, which has a first external thread. The first bracket 400 is provided with a first bracket through hole 411a. The second transmission member 320 has a first internal thread hole 321a. The transmission rod 311 is rotatably inserted into the first bracket through hole 411a. The transmission rod 311 is inserted into the first internal thread hole 321a, and the first external thread engages with the first internal thread hole 321a.

[0067] Under external force, and with the first external thread and the first internal thread hole 321a engaged, the first transmission member 310 can rotate relative to the second transmission member 320 and move along the first direction (or the third direction). The second transmission member 320 moves along the second direction (or the fourth direction) in conjunction with the first transmission member 310, so that the first bracket 400, the housing 200 and the sensor 100 connected to the first transmission member 310 can rotate along the second direction (or the fourth direction) with the connector 600 as the rotation center.

[0068] The external force applied to the first transmission member 310 is a force that causes the first transmission member 310 to rotate toward or away from the second transmission member 320. For example, when the external force applied to the first transmission member 310 causes it to rotate toward the second transmission member 320, the first transmission member 310 can rotate relative to the second transmission member 320 and generate movement along a first direction. The first transmission member 310 applies a force along the first direction to the first bracket 400, and the second transmission member 320, which is linked to the first transmission member 310, rotates along a second direction, thereby causing the first bracket 400, the sensor 100, and the housing 200 to rotate relative to the second bracket 500 along the second direction around the connector 600 within the adjustable top-view angle range. When an external force is applied to the first transmission member 310, causing the first transmission member 310 to rotate away from the second transmission member 320, the first transmission member 310 can rotate relative to the second transmission member 320 and generate movement in a third direction. The first transmission member 310 applies a force in a third direction to the first bracket 400, and the second transmission member 320, which is linked with the first transmission member 310, rotates in a fourth direction, thereby causing the first bracket 400, the sensor 100, and the housing 200 to rotate relative to the second bracket 500 in the fourth direction around the connector 600 within the range of the upward viewing angle adjustment.

[0069] Since the transmission rod 311 of the first transmission member 310 is threadedly engaged with the second transmission member 320, when the second transmission member 320 moves in conjunction with the first transmission member 310, the transmission gap between the second transmission member 320 and the first transmission member 310 is small, which is beneficial to improving the adjustment accuracy.

[0070] After adjusting the housing 200 and sensor 100 to the target angle, the external force is removed. The meshing force between the first external thread and the first internal thread hole 321a helps to prevent the first transmission member 310 from moving, which is beneficial to reliably locking the housing 200 and sensor 100.

[0071] Optionally, the first transmission member 310 further includes an operating part 312, which is connected to one end of the transmission rod 311. The operating part 312 is located on the side of the first bracket 400 opposite to the second transmission member 320, thereby providing a relatively large operating space for easy operation.

[0072] The operating part 312 may be cylindrical, and its diameter may be larger than that of the transmission rod 311. The side of the operating part 312 may have multiple elongated protrusions, which may be spaced apart circumferentially along the operating part 312, and the surface of the protrusions may be a smooth curved surface.

[0073] In other embodiments, the first transmission member 310 can also be slidably connected to the second transmission member 320. For example, the second transmission member 320 is provided with a sliding hole, and the first transmission member 310 passes through the sliding hole. Correspondingly, the first transmission member 310 can be fixedly connected to the first bracket 400. In this case, the direction of the external force applied to the first transmission member 310 is consistent with the sliding direction of the first transmission member 310. After the angle of the sensor 100 is adjusted to the correct position, the housing 200 can be locked at the target angle by a clamp that cooperates with the first transmission member 310, or by a damping element between the first transmission member 310 and the wall of the sliding hole.

[0074] Please refer to Figures 5 to 8 In some embodiments, the second transmission member 320 includes a main body 321 and rotating portions 322 located on opposite sides of the main body 321. The main body 321 and the rotating portions 322 may each be cylindrical. The axial direction of the main body 321 is parallel to the axial direction of the transmission rod 311. The axial direction of the main body 321 is perpendicular to the axial direction of the rotating portions 322. The main body 321 is provided with a first internal threaded hole 321a.

[0075] The second support 500 includes a receiving portion 520 extending from the first surface 210 opposite to the housing 200. Two receiving portions 520 are provided, each corresponding to one of the two rotating portions 322, to improve the reliability of support for the second transmission member 320. The space between the two receiving portions 520 provides space for the movement of the first transmission member 310.

[0076] The receiving part 520 is provided with a rotating hole 520a, and the rotating part 322 is rotatably disposed in the rotating hole 520a, so that the rotating part 322 can rotate in a second direction or a fourth direction. The rotating part 322 can be rotatably disposed in the rotating hole 520a via a rolling bearing.

[0077] In some examples, the rotating part 322 and the main body part 321 are integrally formed by a one-piece molding process. The receiving part 520 has a notch 520b on the upper side opposite to the first surface 210. The notch 520b can communicate with the rotating hole 520a so that the rotating part 322 can be inserted into the rotating hole 520a through the notch 520b.

[0078] In this example, the above settings can ensure the installation reliability of the second transmission component 320 and reduce the assembly difficulty of the second transmission component 320 and the second bracket 500.

[0079] Optionally, the rotating part 322 is provided with a groove 322a, which is located in the middle of the rotating part 322. The groove 322a is located on the cylindrical surface of the rotating part 322, and the groove 322a can extend along the circumference of the rotating part 322. The portion of the receiving part 520 that forms the rotating hole 520a is located in the groove 322a, thereby preventing the rotating part 322 from moving relative to the second bracket 500 along its axial direction.

[0080] Optionally, a limiting plate can be connected to the upper side of the receiving part 520 away from the first surface 210. The limiting plate can be fastened to the receiving part 520. The limiting plate is set in correspondence with the notch 520b, thereby preventing the second transmission member 320 from disengaging from the rotating hole 520a during the process of linkage with the first transmission member 310.

[0081] In other embodiments, the rotating part 322 and the main body part 321 can be fixedly connected by welding, bonding, or keying. During assembly, the two rotating parts 322 are respectively inserted into the rotating holes 520a of the receiving part 520, and the two rotating parts 322 are fixedly connected to the main body part 321, for example, by welding the rotating parts 322 to the main body part 321.

[0082] Please refer to Figure 4 and Figure 5 In some embodiments, the sensor device further includes a stop 700 connected to the transmission rod 311. When the housing 200 is adjusted to a target angle, the stop 700 is operated to prevent linkage between the first transmission member 310 and the second transmission member 320, thereby reliably locking the housing 200 at the target angle. When it is necessary to adjust the angle of the housing 200, the stop 700 is operated to release the locking of the first transmission member 310, thereby providing movement space for the first transmission member 310.

[0083] In some examples, to improve ease of operation, the stop 700 includes a stop nut 710 that engages with the first external thread of the transmission rod 311 in the first transmission member 310. When it is necessary to adjust the angle of the sensor 100, the stop nut 710 is turned away from the main body 321 of the second transmission member 320, thereby creating an appropriate gap between the stop nut 710 and the main body 321. This gap can be set according to actual needs, as long as it provides sufficient movement space for the transmission rod 311, allowing the transmission rod 311 in the first transmission member 310 to move axially relative to the main body 321. After adjustment, the stop nut 710 is turned in the opposite direction, causing it to move towards the main body 321, gradually reducing the gap between the stop nut 710 and the main body 321 until the end of the stop nut 710 abuts against the main body 321, preventing the movement of the transmission rod 311.

[0084] Optionally, there are two locking nuts 710, which are located on opposite sides of the second transmission member 320, thereby reliably locking the first transmission member 310 and thus reliably locking the housing 200 at the target angle.

[0085] In other examples, to simplify operation, when the housing 200 is in the locked state, at least one of the locking nuts 710 and the main body 321 may also have a preset distance. In this case, the housing 200 may also be locked by the meshing force between the first external thread and the first internal thread hole 321a, or by the frictional force provided by the damping element between the connector 600 and the second bracket 500.

[0086] In some other embodiments, the stop 700 may include a clamp fitted over the transmission rod 311. When the angle of the sensor 100 needs to be adjusted, the fixing bolt in the clamp is loosened, allowing the clamp to move relative to the transmission rod 311 in a direction away from the main body 321 (or the clamp can be removed), allowing the transmission rod 311 to move. After adjustment, the clamp is placed against the main body 321, and the fixing bolt is tightened to prevent the transmission rod 311 from moving, thus locking the housing 200.

[0087] In some other embodiments, the stop 700 includes a magnetic attractor. After the angle of the sensor 100 is adjusted to the correct position, the magnetic attractor engages with the transmission rod 311, using the magnetic attraction between the magnetic attractor and the transmission rod 311 to prevent the transmission rod 311 from moving and lock the housing 200. Alternatively, the stop 700 may include a stop rod; the transmission rod 311 may have multiple locking holes distributed along the axial direction of the transmission rod 311, with overlapping portions between adjacent locking holes; after the angle of the sensor 100 is adjusted to the correct position, the stop rod can be inserted into the locking hole adjacent to the main body 321 to prevent the transmission rod 311 from moving and lock the housing 200.

[0088] In some other embodiments, a damping element may be provided between the connector 600 and the second bracket 500. For example, the damping element may be a rubber sleeve provided between the connector 600 and the through hole 510a of the main frame. Thus, after the angle of the housing 200 and the sensor 100 is adjusted to the correct position, the friction between the damping element and the second bracket 500 can be used to lock the housing 200.

[0089] Please refer to Figure 7 and Figure 8 And continue to refer to Figure 1 and Figure 4 In some embodiments, the second support 500 includes a main frame 510 spanning a first surface 210 of the housing 200, the main frame 510 being connected to a receiving portion 520 extending away from the first surface 210.

[0090] For example, the main frame 510 includes a first plate 511 and a second plate 512. The first plate 511 may be located on the top wall of the outer shell 200, and there may be a preset gap between the first plate 511 and the top wall of the outer shell 200 to prevent the main frame 510 from interfering with the movement of the outer shell 200. The first plate 511 is connected to two second plates 512, which are perpendicular to the first plate 511 and are located on opposite sides of the outer shell 200, so as to facilitate the connection of the main frame 510 to the outer shell 200 by the connector 600.

[0091] The first plate 511 is connected to a receiving portion 520. The receiving portion 520 may include a receiving plate with a rotating hole 520a. The receiving plate may be arranged perpendicular to the first plate 511. The receiving plate may be connected to the first plate 511 via a third plate, which is arranged perpendicular to both the first plate 511 and the receiving plate, and is located on the front side of the first plate 511 away from the first bracket 400. In other examples, the receiving plate may also be directly connected to the first plate 511.

[0092] The two second plates 512 are respectively provided with main frame through holes 510a. The main frame through holes 510a are aligned with the second mounting part 221 of the outer shell 200, and the connector 600 is inserted into the main frame through holes 510a and connected to the second mounting part 221.

[0093] In this example, the above settings can reduce structural modifications to the housing 200 and reduce the number of openings on the housing 200.

[0094] The two second plates 512 are also connected to a first joint 530, which extends away from the housing 200. Exemplarily, the first joint 530 may include a first joint plate, which is perpendicular to the second plates 512. To improve the installation reliability of the sensor device, the first joint 530 may also include a reinforcing boss connected to the first joint plate.

[0095] To ensure the strength and reliability of the second support 500, the first joint 530, the receiving part 520 and the main frame 510 can be integrally molded.

[0096] Please refer to Figure 9 and Figure 10 The first joint 530 is used to connect with the base 800 to fix the sensor device to a preset mounting position. The first joint 530 is provided with a first joint through hole, through which a fastener can be inserted, and the fastener is also connected to the base 800. In other examples, the first joint 530 can also be welded to the base 800 for fixation.

[0097] The base 800 includes connecting plates 810 corresponding to two first joint portions 530, which are connected by a base plate 820. The base plate 820 is detachably connected to a component at a preset mounting position. A reinforcing plate 830 is connected to the base plate 820, and the reinforcing plate 830 is connected to the connecting plates 810. The base plate 820, reinforcing plate 830, and connecting plates 810 are perpendicular to each other. The reinforcing plate 830 may be parallel to the second surface 220. The base plate 820 may be parallel to the first surface 210.

[0098] In this example, the above settings not only reduce structural modifications to the housing 200 and the number of openings on the housing 200, but also allow for the design of the base 800 structure according to actual needs, which helps to reduce the requirements for the preset mounting position and reduce the installation difficulty of the sensor device.

[0099] Please refer to Figures 8 to 10 Optionally, the first joint portion 530 is disposed adjacent to the main frame through hole 510a, and the orthographic projection of the first joint portion 530 on the second surface 220 is offset from the orthographic projection of the main frame through hole 510a (or the connector 600 passing through the main frame through hole 510a) on the second surface 220. For example, the orthographic projection of the first joint portion 530 on the second surface 220 is located above the orthographic projection of the main frame through hole 510a on the second surface 220. With the above arrangement, interference between the connector 600 disposed in the main frame through hole 510a and the fastener disposed in the first joint portion 530 can be avoided.

[0100] Please refer to Figure 11 and Figure 4 In some embodiments, the first bracket 400 includes a mounting plate 411. The mounting plate 411 may be disposed perpendicular to the first surface 210 and the second surface 220. A first bracket through hole 411a is formed on the mounting plate 411, through which the transmission rod 311 of the first transmission member 310 passes. The transmission rod 311 is rotatably disposed in the first bracket through hole 411a. To reduce wear between the transmission rod 311 and the first bracket 400, the transmission rod 311 may be rotatably disposed in the first bracket through hole 411a via a rolling bearing.

[0101] The end of the transmission rod 311 facing away from the second transmission member 320 is connected to an operating part 320, which provides a relatively large operating space for the operator to operate the second transmission member 320, improving operational convenience. In some examples, the operating part 312 can abut against the side of the mounting plate 411 facing away from the second transmission member 320, which helps ensure that the first transmission member 310 drives the first bracket 400 to move. Optionally, the first transmission rod 311 includes a first limiting part, which can abut against the side of the mounting plate 411 facing the second transmission member 320, which helps ensure that the first transmission member 310 drives the first bracket 400 to move.

[0102] In other examples, there is a preset distance between the operating part 312 and the mounting plate 411 to facilitate operation of the operating part 312 by the operator. Optionally, the first transmission rod 311 includes a first limiting part and a second limiting part. The first limiting part can abut against the side of the mounting plate 411 facing the second transmission member 320, and the second limiting part can abut against the side of the mounting plate 411 away from the second transmission member 320, to ensure that the first transmission member 310 drives the first bracket 400 to move.

[0103] Please refer to Figure 11 and Figure 12 The first bracket 400 also includes a second joint 412 extending from the mounting plate 411. The second joint 412 may be flat. The second joint 412 may be perpendicular to the mounting plate 411. The second joint 412 may be arranged parallel to the first surface 210.

[0104] The second joint 412 is provided with a second joint through hole, which is aligned with the first mounting part 211 of the housing 200. A fastener is inserted through the second joint through hole, and the fastener can also be connected to the first mounting part 211. In other examples, the second joint 412 can also be fixedly connected to the housing 200 by welding or bonding.

[0105] Optionally, the portion of the mounting plate 411 near two opposite edges is folded to form folded portions, which can be connected to the second joint portion 412 respectively, thereby providing a relatively large connection area between the mounting plate 411 and the second joint portion 412 and improving the strength of the first bracket 400. The first bracket through hole 411a is provided in the middle region of the mounting plate 411.

[0106] Please refer to Figures 1 to 5 and Figure 12 In some embodiments, the connector 600 includes a connecting rod having a second external thread, and the second mounting portion 221 of the housing 200 is provided with a second internal thread hole. The connecting rod is inserted into the second internal thread hole, and the second external thread portion engages with the second internal thread hole.

[0107] The connecting rod has a non-threaded portion in the shape of a smooth axis. This non-threaded portion mates with the main frame through hole 510a of the second bracket 500, allowing the connecting rod to rotate relative to the second bracket 500. The non-threaded portion can also mate with the main frame through hole 510a via a rolling bearing. Alternatively, the connecting rod can be a screw, and correspondingly, the diameter of the main frame through hole 510a of the second bracket 500 can be larger than the outer diameter of the connecting rod, allowing the screw to rotate relative to the second bracket 500.

[0108] In this example, by passing the connector 600 through the second straight section 500 and threading it to the second mounting portion 221 of the housing 200, the assembly difficulty of the connector 600, the second bracket 500, and the housing 200 can be reduced.

[0109] Optionally, the end of the connecting rod facing away from the housing 200 is connected to a head, which may be provided with a cross-shaped groove to improve the ease of installing the connector 600.

[0110] In other embodiments, the connector 600 may also be a connecting shaft. One end of the connecting shaft is fixedly connected to the second mounting portion 221, for example, the connecting shaft is welded to the second mounting portion 221. The other end of the connecting shaft passes through the main frame through hole 510a of the second bracket 500, and the portion of the connecting shaft extending out of the main frame through hole 510a can mate with the shaft seat, which is fixedly connected to the second bracket 500.

[0111] like Figure 1 As shown, in some embodiments, the first support 400 is disposed near the first edge (i.e., the front edge) of the top wall, and the second support 500 is disposed near the second edge (i.e., the rear edge) of the top wall. The second edge is opposite to the first edge, which enables the first transmission member 310 to have a larger range of motion, thereby making the first angle adjustment range and the second angle adjustment range relatively large.

[0112] In other examples, when the dimension of the housing 200 along the axial direction of the first transmission member 310 is relatively large, at least one of the first bracket 400 and the second bracket 500 may be positioned close to the center of the top wall.

[0113] The angle adjustment process of the sensor device in this embodiment will be illustrated below with an example.

[0114] Please refer to Figure 13 , Figure 13The dashed arrows in the diagram are used to indicate the direction of movement. When it is necessary to adjust the angle of the housing 200 and the sensor 100 within the range of the top-view angle adjustment, the stop nut 710 is turned away from the main body 321 of the second transmission member 320. There is a preset distance between the stop nut 710 and the main body 321. An external force is applied to the first transmission member 310 so that the first transmission member 310 can rotate relative to the second transmission member 320 and can move relative to the second transmission member 320 in a first direction (e.g., forward). The second transmission member 320 can move in conjunction in a second direction (e.g., counterclockwise), thereby causing the first bracket 400, the housing 200 and the sensor 100 to rotate downward around the connector 600 in the second direction (e.g., counterclockwise). After adjusting the top-view angle of the sensor 100, tighten the stop nut 710 so that the stop nut 710 moves toward the main body 321 of the second transmission member 320, gradually reducing the distance between the stop nut 710 and the main body 321, until the two stop nuts 710 respectively abut against the opposite sides of the main body 321 of the second transmission member 320.

[0115] Please refer to Figure 14 , Figure 14 The dashed arrows in the diagram are used to indicate the direction of movement. When it is necessary to adjust the angle of the housing 200 and the sensor 100 within the range of the upward viewing angle adjustment, the stop nut 710 is turned away from the main body 321 of the second transmission member 320. There is a preset distance between the stop nut 710 and the main body 321. An external force is applied to the first transmission member 310 so that the first transmission member 310 can rotate relative to the second transmission member 320 and can move relative to the second transmission member 320 in a third direction (e.g., backward). The second transmission member 320 can move in a fourth direction (e.g., clockwise) so that the first bracket 400, the housing 200 and the sensor 100 rotate upward around the connector 600 in a fourth direction (e.g., clockwise). After the angle of the sensor 100 is adjusted to the correct position, the stop nut 710 is turned so that the stop nut 710 moves toward the main body 321 of the second transmission member 320, gradually reducing the distance between the stop nut 710 and the main body 321, until the two stop nuts 710 abut against the opposite sides of the main body 321 of the second transmission member 320.

[0116] The aforementioned sensor device has a simple structure, low cost, and is easy and reliable to operate. It helps to shorten the testing and development cycle of equipment equipped with the sensor device and reduces maintenance costs during the operation phase.

[0117] Other configurations of the sensor device in the above embodiments can be derived from various technical solutions now and in the future known to those skilled in the art, and will not be described in detail here.

[0118] This embodiment also provides an autonomous driving vehicle, including the angle-adjustable sensor device from any of the foregoing embodiments. Other components of the autonomous driving vehicle will not be described in detail in this embodiment.

[0119] This embodiment also provides a robot, including the angle-adjustable sensor device from any of the foregoing embodiments. Other components of the robot will not be described in detail in this embodiment.

[0120] In the description of this specification, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0121] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "multiple" means two or more, unless otherwise explicitly specified.

[0122] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0123] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0124] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements have been described above. Of course, these are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0125] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An angle-adjustable sensor device, characterized in that, include: sensor; A housing that encloses at least a portion of the sensor, the housing including a first mounting portion located on a first surface of the housing and a second mounting portion located on a second surface of the housing; The first bracket is connected to the first mounting part of the outer casing; The second bracket is connected to the second mounting part of the outer casing; The transmission assembly includes a first transmission component and a second transmission component that is linked to the first transmission component. The first transmission component is connected to the first bracket, and the second transmission component is rotatably connected to the second bracket. The connector passes through the second bracket and connects to the second mounting portion of the housing; In response to the first transmission member being operated along a first direction, the first direction being parallel to the axial direction of the first transmission member, the second transmission member rotates along a second direction, causing the housing to change its angle relative to the second bracket within a first angle adjustment range about the connector along the second direction. In response to the first transmission member being operated along a third direction parallel to the axial direction of the first transmission member, the second transmission member rotates along a fourth direction, causing the housing to change angle relative to the second bracket within a second angle adjustment range about the connector along the fourth direction.

2. The sensor device according to claim 1, characterized in that, Also includes: A stop member, which is connected to the first transmission member; When the housing is adjusted to the target angle, the stop is activated to prevent the linkage between the first transmission member and the second transmission member and to lock the housing at the target angle.

3. The sensor device according to claim 2, characterized in that, When the housing is angled, the stop is activated to release the first transmission member from locking, thereby providing space for the first transmission member to move.

4. The sensor device according to claim 2, characterized in that, The first transmission component includes a transmission rod, and the transmission rod is provided with a first external thread; The second transmission component includes a first internal threaded hole; The transmission rod is inserted into the first internal threaded hole and the first external threaded portion engages with the first internal threaded hole.

5. The sensor device according to claim 4, characterized in that, The second transmission component includes a main body and rotating parts located on both sides of the main body, wherein the main body is provided with the first internal thread hole; The second bracket includes a receiving portion extending away from the first surface of the housing; The rotating part is received by the receiving part to rotate in the second direction or the fourth direction.

6. The sensor device according to claim 2, characterized in that, The stop member includes a stop nut that mates with the first external thread portion of the first transmission member; wherein the stop nut satisfies at least one of the following: In response to the locking nut being operated in a direction away from the second transmission member, the first transmission member can move relative to the second transmission member; In response to the locking nut being operated in the direction toward the second transmission member, the locking nut is able to abut against the second transmission member.

7. The sensor device according to claim 6, characterized in that, The stop nuts include two, which are located on opposite sides of the second transmission member.

8. The sensor device according to claim 1, characterized in that, The second support includes a main frame spanning the first surface of the housing, the main frame being connected to a receiving portion extending away from the first surface of the housing; A main frame through hole is provided at each of the two ends of the main frame. The main frame through hole is aligned with the second mounting part of the outer shell. The connector is rotatably disposed in the main frame through hole and connected to the second mounting part.

9. The sensor device according to claim 8, characterized in that, The main frame is also connected to a first joint extending away from the outer shell; the first joint is used to connect with the base to fix the sensor device to a preset mounting position.

10. The sensor device according to claim 9, characterized in that, The first joint is disposed adjacent to the through hole of the main frame, and the orthographic projection of the first joint on the second surface is offset from the orthographic projection of the through hole of the main frame on the second surface.

11. The sensor device according to claim 1, characterized in that, The first bracket includes a mounting plate and a second engagement portion extending from the mounting plate; The mounting plate is provided with a first bracket through hole, and the transmission rod of the first transmission component is rotatably disposed in the first bracket through hole; The first transmission component includes an operating part connected to one end of the transmission rod, and the operating part is located on the side of the mounting plate opposite to the second transmission component; The second joint is provided with a second joint through hole aligned with the first mounting portion of the housing.

12. The sensor device according to any one of claims 1 to 11, characterized in that, The second mounting portion of the outer casing is provided with a second internal threaded hole; The connector includes a connecting rod, which has a second external thread; the connecting rod is inserted into a second internal thread hole, and the second external thread mates with the second internal thread hole.

13. The sensor device according to any one of claims 1 to 11, characterized in that, The first surface of the outer casing is the top wall of the outer casing, and the second surface of the outer casing is the side wall of the outer casing.

14. The sensor device according to claim 13, characterized in that, The first bracket is disposed adjacent to a first edge of the top wall, and the second bracket is disposed adjacent to a second edge of the top wall, the second edge being opposite to the first edge.

15. The sensor device according to any one of claims 1 to 11, characterized in that, The sensor includes a camera.

16. The sensor device according to any one of claims 1 to 11, characterized in that, The first angle adjustment range includes the downward angle adjustment range, and the second angle adjustment range includes the upward angle adjustment range.

17. An autonomous vehicle, characterized in that, Includes an angle-adjustable sensor device according to any one of claims 1 to 16.

18. A robot, characterized in that, Includes an angle-adjustable sensor device according to any one of claims 1 to 16.

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