Sensor module of unmanned vehicle and unmanned vehicle

Abstract

The utility model relates to the technical field of unmanned vehicles, and provides a sensor module of an unmanned vehicle and the unmanned vehicle, the sensor module comprises a housing assembly, the housing assembly comprises an upper cover plate and a lower cover plate which are buckled with each other, and the middle part enclosed by the upper cover plate and the lower cover plate forms an accommodating space; the radar assembly comprises a first radar and a second radar, the first radar is arranged at the top of the upper cover plate, and the second radar is arranged on the side wall of the lower cover plate; the camera assembly comprises a first camera, a second camera and a third camera which are respectively arranged on the side wall of the lower cover plate; the inertial navigation assembly is arranged in the accommodating space and is positioned below the first radar; and the antenna assemblies are arranged in the accommodating space and are symmetrically arranged on the two sides of the inertial navigation assembly. The radar assembly, the camera assembly, the inertial navigation assembly, the antenna assembly and other assemblies are arranged in one module in a centralized mode, scattered installation is avoided, integrated and modular design is achieved, and the structure is simple and reasonable.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned vehicle technical field especially provides a sensor module of unmanned vehicle and unmanned vehicle. BACKGROUND

[0002] To meet the safety, reliability and stability of automatic driving, most of the unmanned vehicles on the market adopt multi-sensor fusion technology, that is, multiple sensors are distributed at different positions and angles of the chassis, vehicle head or cargo box of the unmanned vehicle, and multi-level, multi-space and multi-dimensional information complementary and optimized combination processing are carried out to achieve panoramic detection of different obstacles far, middle and near, then correct judgment is made by the intelligent controller according to the collected information, and control decision is generated, and then the motion behavior of the unmanned vehicle is controlled.

[0003] This way has the following problems: 1, the sensors are arranged in different parts, if a part is damaged, the sensor must be disassembled and reassembled and recalibrated; 2, the calibration of the sensor needs to be done after the whole vehicle is assembled, and cannot be calibrated or synchronized after the sensor module is assembled, which reduces the production efficiency; 3, different sensors on the parts and exterior parts need to be packaged, and the assembly process is complicated; 4, it is not conducive to the iteration and upgrading of the vehicle model, and the cost of upgrading and modification is high. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a sensor module of unmanned vehicle and unmanned vehicle, which integrates radar, camera, rain sensor, controller, antenna, heat dissipation and cleaning into one module, which is not only a structural component of unmanned vehicle, but also a sensor functional component, realizing integrated and modular design.

[0005] To achieve the above purpose, the utility model adopts the technical scheme of:

[0006] The application provides a sensor module of unmanned vehicle, which comprises:

[0007] The shell assembly comprises an upper cover plate and a lower cover plate that are buckled to each other, and a middle part enclosed by the upper cover plate and the lower cover plate forms a containing space;

[0008] The radar assembly comprises a first radar and a second radar, the first radar is arranged on the top of the upper cover plate, and the second radar is arranged on the side wall of the lower cover plate;

[0009] The camera assembly comprises a first camera, a second camera and a third camera, which are arranged on the side wall of the lower cover plate respectively;

[0010] The inertial navigation assembly is arranged in the containing space and below the first radar;

[0011] An antenna assembly is arranged in the accommodation space and symmetrically arranged on both sides of the inertial navigation assembly.

[0012] Further, the sensor module further comprises a cleaning assembly, the cleaning assembly comprises a fan, a fan controller, a blowing pipe and a plurality of cleaning nozzles, the fan is fixed on the upper end of the lower cover plate, one end of the fan is connected to the fan controller, the other end is connected to the plurality of cleaning nozzles through the blowing pipe, and each of the cleaning nozzles corresponds to one of the camera assemblies.

[0013] Further, the sensor module further comprises a radar bracket, a waterproof rubber pad and a rain cover, the bottom of the radar bracket is fixed on the upper end surface of the lower cover plate, the waterproof rubber pad is installed on the top of the radar bracket, the middle part of the radar bracket is hollow for placing the inertial navigation assembly, and the fan controller is installed on the side wall of the radar bracket, the waterproof rubber pad is sleeved on the outside of the bottom of the first radar, the first radar protrudes outwards through the avoiding hole of the upper cover plate, and the rain cover is sleeved on the top of the first radar.

[0014] Further, the sensor module further comprises a heat dissipation assembly and a rain sensor, the heat dissipation assembly is installed on the upper end of the lower cover plate and located between the radar bracket and the antenna assembly, the rain sensor is arranged at the front of the radar bracket and protrudes through the upper cover plate and is flush with the upper end surface of the upper cover plate, and a plurality of drainage openings are formed in the bottom of the lower cover plate.

[0015] Further, the front side wall of the lower cover plate is sequentially provided with a second camera, a first camera, a second radar, a first camera and two third cameras with different installation angles from left to right, the left side wall of the lower cover plate is sequentially provided with a second camera, a second radar and a first camera from left to right, and the right side wall of the lower cover plate is symmetrically arranged with the left side wall.

[0016] Further, the first radar is a multi-line laser radar for positioning, the second radar is a blind area elimination radar for eliminating blind area, the first camera is an identification camera for identifying obstacles, the second camera is a monitoring camera for real-time monitoring, and the third camera is a traffic light camera for identifying traffic lights and lane lines.

[0017] The application also provides an unmanned vehicle, comprising a chassis and the sensor module as described above.

[0018] Further, the unmanned vehicle further comprises a vehicle head and a cargo box which are fixedly installed on the chassis and can be detachably spliced, and the sensor module is detachably installed on the top of the vehicle head.

[0019] Further, a sealing rubber strip is arranged at the splicing position of the vehicle head and the cargo box, and the internal space of the vehicle head and the internal space of the cargo box are combined after splicing.

[0020] Further, the bottom plate of the container is also provided with an inspection opening, which is communicated to the inside of the bottom plate.

[0021] The utility model discloses beneficial effect:

[0022] The sensor module of the unmanned vehicle provided by the utility model centrally arranges multiple components such as a radar component, a camera component, an inertial navigation component and an antenna component in one module, and can also selectively integrate a cleaning component, a heat dissipation component, a rain sensor and the like, avoids scattered installation, realizes integrated and modular design, and is simple and reasonable in structure, and simultaneously brings multiple advantages: first, facilitates production and assembly, replacement of parts and post-maintenance of the whole vehicle; second, makes the calibration process of the sensor simpler, and the sensor module can be calibrated individually without calibration after the whole vehicle is assembled, is not limited by the process, and greatly improves production efficiency; third, only needs to package the single module, and does not need to package the sensors at different positions, reduces and simplifies the assembly link; fourth, can reduce workload and modification cost when the vehicle model is iteratively upgraded.

[0023] The unmanned vehicle provided by the utility model comprises the above sensor module, and therefore has the above advantages; on the other hand, the chassis, the vehicle head and the container are also modular in design and production, simplify the production link, reduce the material types and save production cost; the vehicle head and the container are spliced and folded, fastened and sealed, so that the internal space of the vehicle head and the internal space of the container are combined into one, and the loading space of the goods is increased. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0025] Figure 1 It is an explosion structure schematic view of the sensor module in an embodiment;

[0026] Figure 2 It is a front view of the sensor module in an embodiment;

[0027] Figure 3 It is a left view of Figure 2 ;

[0028] Figure 4 It is a top view of Figure 2 ;

[0029] Figure 5 Fig. 2 is a perspective view of the unmanned vehicle according to an embodiment of the present application; Figure 1 Fig. 3 is a perspective view of the unmanned vehicle according to another embodiment of the present application;

[0030] Figure 6 Fig. 4 is a top view of the lower cover plate;

[0031] Figure 7 Fig. 5 is a schematic view of the overall structure of the unmanned vehicle according to an embodiment of the present application;

[0032] Figure 8 Fig. 6 is a schematic view of the exploded structure of the unmanned vehicle according to an embodiment of the present application;

[0033] Figure 9 Fig. 7 is a sectional view of the splicing between the vehicle head and the cargo box according to an embodiment of the present application;

[0034] Figure 10 Fig. 8 is a schematic view of the internal structure of the unmanned vehicle according to an embodiment of the present application; Figure 9 Fig. 9 is an enlarged view of part A in Fig. 8;

[0035] Figure 11 Fig. 10 is a schematic view of the internal structure of the unmanned vehicle after the splicing between the vehicle head and the cargo box according to an embodiment of the present application;

[0036] In the drawings, the same or similar reference signs denote the same or similar elements or elements having the same or similar functions.

[0037] 1, upper cover plate; 2, radar support; 3, waterproof rubber pad; 4, lower cover plate; 5, first radar; 6, rain shield; 7, cleaning nozzle; 8, second radar; 9, first camera; 10, second camera; 11, third camera; 12, fan; 13, fan controller; 14, blowing pipe; 15, inertial navigation assembly; 16, antenna assembly; 17, heat dissipation assembly; 18, rain sensor; 19, drain; 100, chassis; 200, vehicle head; 300, sensor module; 400, cargo box; 401, access hole; 500, sealing rubber strip. DETAILED DESCRIPTION

[0038] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0039] In the description of the utility model, it is understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0040] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0041] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0042] Please refer to Figures 1 to 6The sensor module of the unmanned vehicle provided by the embodiments of the present application is suitable for being loaded on various types of unmanned vehicles and replaces the traditional arrangement of various radars and cameras on the vehicle body and exterior trim parts. The sensor module mainly comprises a shell assembly, a radar assembly, a camera assembly, an inertial navigation assembly 15, and an antenna assembly 16. The shell assembly comprises an upper cover plate 1 and a lower cover plate 4 that are buckled to each other, and a middle part enclosed by the upper cover plate 1 and the lower cover plate 4 forms a containing space. In the embodiments, the shell assembly is made of plastic material, and the upper cover plate 1 and the lower cover plate 4 are fastened by bolts. The radar assembly comprises a first radar 5 and a second radar 8. The first radar 5 is arranged on the top of the upper cover plate 1, and the second radar 8 is arranged on the side wall of the lower cover plate 4. The second radar 8 is provided in multiple numbers and is distributed in various directions. The camera assembly comprises a first camera 9, a second camera 10, and a third camera 11, which are arranged on the side wall of the lower cover plate 4, respectively. The inertial navigation assembly 15 is arranged in the containing space and below the first radar 5, and adopts GNSS (BDS / GPS system combined positioning) / INS combined navigation positioning technology to provide high-precision positioning for the unmanned vehicle. The antenna assembly 16 is arranged in the containing space and symmetrically arranged on both sides of the inertial navigation assembly 15. The antenna assembly 16 is arranged slightly higher than the radar assembly and the camera assembly, which can play the performance of the antenna and will not affect the structural layout between the components, and the structure is compact and the layout is reasonable.

[0043] In one of the embodiments, the sensor module further comprises a cleaning assembly mainly used for cleaning the cameras. The cleaning assembly comprises a fan 12, a fan controller 13, a blowing pipe 14, and a plurality of cleaning nozzles 7. More specifically, the fan 12 is fixed on the upper end of the lower cover plate 4 and connected to the fan controller 13 at one end and connected to the plurality of cleaning nozzles 7 through the blowing pipe 14 at the other end. Each of the cleaning nozzles 7 corresponds to one of the cameras in the camera assembly. The cleaning nozzles 7 are located above each camera and face the lens of the camera, which does not affect the function of the camera and can clean the camera at any time.

[0044] In one of the embodiments, the sensor module further comprises a radar support 2, a waterproof rubber pad 3, and a rain shield 6. The bottom of the radar support 2 is fixed on the upper end surface of the lower cover plate 4, the top is provided with the waterproof rubber pad 3, the middle is hollow for placing the inertial navigation assembly 15, and the side wall is provided with the fan controller 13. The waterproof rubber pad 3 is sleeved on the outside of the bottom of the first radar 5. The top of the first radar 5 extends to the outside through the avoiding hole of the upper cover plate 1. The rain shield 6 is sleeved on the top of the first radar 5 and is mainly used for protecting the first radar 5 and preventing rain.

[0045] In one of the embodiments, the sensor module further comprises heat dissipation components 17 and a rainfall sensor 18; the heat dissipation components 17 are two in number, are respectively installed at the upper end of the lower cover plate 4 and are located between the radar support 2 and the antenna component 16, one of which is for air intake and the other is for air exhaust, forming an air exhaust channel to timely remove heat and solve the problem of heat generation of the components in the accommodation space; the rainfall sensor 18 is arranged at the front of the radar support 2 and penetrates through the upper cover plate 1 at the top and is flush with the upper end surface of the upper cover plate 1, and is used for observing the rainfall condition; the bottom of the lower cover plate 4 is further provided with a plurality of drainage openings 19 distributed in the corners and slightly lower than the plane height of the lower cover plate 4, and is used for timely draining the water that accidentally seeps in.

[0046] In one of the embodiments, the front side wall of the lower cover plate 4 is sequentially provided, from left to right, with a second camera 10 (horizontally facing forward and vertically downwardly inclined by 25-35°), a first camera 9 (horizontally facing forward and vertically centrally installed), a second radar 8 (horizontally facing forward and vertically downwardly inclined by 25-35°), a first camera 9 (horizontally facing forward), and two third cameras 11 (one of which is horizontally facing forward and vertically upwardly inclined by 3-8°, and the other of which is horizontally facing forward and vertically upwardly inclined by 5-15°) having different installation angles; the left side wall of the lower cover plate 4 is sequentially provided, from left to right, with a second camera 10 (horizontally facing left), a second radar 8 (horizontally facing left and vertically downwardly inclined by 25-35°), and a first camera 9 (obliquely backward and having an included angle of 105-135° with the direction of the vehicle head, and vertically downwardly inclined by 25-35°); and the right side wall of the lower cover plate 4 is symmetrically arranged with the left side wall. The cameras and radars on the front side wall are used for detecting the environment in front, the cameras and radars on the left side wall are used for detecting the environment on the left and the left rear, and the cameras and radars on the right side wall are used for detecting the environment on the right and the right rear. The radars and cameras complement each other, eliminate the blind area, realize 360° omnidirectional detection and perception, have high identification accuracy, are safe and reliable, simplify the layout and wiring, and reduce the assembly difficulty.

[0047] In one of the embodiments, the first radar 5 is a multi-line laser radar, such as a 32-line laser radar or a 64-line laser radar, mainly serving to position and scan the surrounding environment; the second radar 8 is a blind area elimination radar, mainly used for eliminating the blind area; the first camera 9 is an identification camera used for identifying obstacles; the second camera 10 is a fisheye monitoring camera used for real-time monitoring in the background or terminal; and the third camera 11 is a traffic light camera used for identifying traffic lights and / or lane lines.

[0048] In specific use, the sensor module provided by the application can be calibrated individually after assembly, and when it is needed to be used on an unmanned vehicle, the sensor module can be integrally installed on the top of the unmanned vehicle.

[0049] The sensor module of the unmanned vehicle provided in the application centrally arranges multiple components such as a radar component, a camera component, an inertial navigation component, and an antenna component in one module, and can also selectively integrate a cleaning component, a heat dissipation component, a rain sensor, and the like, thereby avoiding scattered installation, realizing integrated and modular design, and having simple and reasonable structure, and meanwhile bringing multiple advantages: first, facilitating production and assembly, replacement of parts, and post-maintenance of the whole vehicle; second, making the calibration process of the sensor simpler, and enabling the sensor module to be calibrated alone without calibration after the whole vehicle is assembled, thereby not being limited by the process and greatly improving production efficiency; third, only needing to package the single module without needing to package sensors at different positions, thereby reducing and simplifying the assembly link; and fourth, reducing workload and modification cost when the vehicle model is iteratively upgraded.

[0050] Please refer to Figures 7 to 11 The application also provides an unmanned vehicle, mainly comprising a chassis 100, a vehicle head 200, and a cargo box 400, and further comprising the sensor module 300 as described above, the vehicle head 200 and the cargo box 400 are detachably spliced and installed on the chassis 100, the vehicle head 200 is located at the front of the cargo box 400, and the sensor module 300 is integrally and detachably installed on the top of the vehicle head 200, and is both a structural component of the unmanned vehicle and a functional component of the sensor.

[0051] More specifically, the vehicle head 200 and the cargo box 400 can be fixed by bolts, when the cargo box is not needed, only the vehicle head 200 needs to be installed on the chassis 100, and a rear cover plate is covered, thereby being flexible in modification, being beneficial to production and manufacturing, and reducing cost. It should be noted that the chassis 100 in the application adopts prior art, and thus is not described herein.

[0052] As a preferred, the splicing part of the vehicle head 200 and the cargo box 400 is provided with a sealing rubber strip 500, and the internal space of the vehicle head 200 and the internal space of the cargo box 400 are combined after splicing to form an integral vehicle cabin, and part of the space in the vehicle head 200 can also be used to load goods, thereby increasing the loading space of the whole vehicle.

[0053] As a preferred, the bottom plate of the cargo box 400 is further provided with an inspection opening 401, and the inside of the chassis 100 is communicated through the inspection opening 401, when the chassis 100 has some small faults, only the inspection opening 401 needs to be opened for checking and repairing, thereby being simple and convenient to operate. It should be noted that the power components such as batteries and motors are arranged in the inside of the chassis 100, and the self-driving components such as controllers are arranged in the vehicle head 200, which belongs to a conventional layout, and thus is not described herein.

[0054] The unmanned vehicle is developed usually for different uses, and the unmanned load vehicle is used as a carrier for load sharing, and the structure of the vehicle and the structure of the cargo box are changed due to different uses, but the style of the vehicle is unified. In order to facilitate production and reduce production cost, the unmanned vehicle is provided, and the chassis, the vehicle head and the cargo box are also modularized in design and production, so that the production process is simplified, the material types are reduced, and the production cost is saved. The vehicle head and the cargo box are spliced and closed, fastened and sealed, so that the internal space of the vehicle head and the internal space of the cargo box are combined into one, the loading space of the goods is increased, and the problem that the L-shaped vehicle with the vehicle head and the unmanned vehicle with the integrated vehicle head and the cargo box share the production platform is solved.

[0055] The above is only a preferred embodiment of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A sensor module of an unmanned vehicle, characterized by, The application relates to a radar cleaning device, which comprises the following components: a shell assembly, which comprises an upper cover plate (1) and a lower cover plate (4) that are buckled to each other, and a middle part enclosed by the upper cover plate (1) and the lower cover plate (4) forms a containing space; a radar assembly, which comprises a first radar (5) arranged on the top of the upper cover plate (1) and a second radar (8) arranged on the side wall of the lower cover plate (4); a camera assembly, which comprises a first camera (9), a second camera (10) and a third camera (11) arranged on the side wall of the lower cover plate (4) respectively; an inertial navigation assembly (15) arranged in the containing space and below the first radar (5); an antenna assembly (16) arranged in the containing space and symmetrically arranged on both sides of the inertial navigation assembly (15).

2. The sensor module of claim 1, wherein, The application further comprises a cleaning assembly, which comprises a fan (12), a fan controller (13), a blowing pipe (14) and a plurality of cleaning nozzles (7), the fan (12) is fixed on the upper end of the lower cover plate (4) and connected to the fan controller (13) at one end and connected to the plurality of cleaning nozzles (7) through the blowing pipe (14) at the other end, and each cleaning nozzle (7) corresponds to one camera in the camera assembly.

3. The sensor module of claim 2, wherein, The application further comprises a radar support (2), a waterproof rubber pad (3) and a rain cover (6), the bottom of the radar support (2) is fixed on the upper end surface of the lower cover plate (4), the waterproof rubber pad (3) is arranged on the top of the radar support (2), the middle part of the radar support (2) is hollow for placing the inertial navigation assembly (15), and the fan controller (13) is arranged on the side wall of the radar support (2), the waterproof rubber pad (3) is sleeved on the outer side of the bottom of the first radar (5), the top of the first radar (5) extends to the outside through the avoiding hole of the upper cover plate (1), and the rain cover (6) is sleeved on the top of the first radar (5).

4. The sensor module of claim 3, wherein, The application further comprises a heat dissipation assembly (17) and a rain sensor (18), the heat dissipation assembly (17) is arranged on the upper end of the lower cover plate (4) and between the radar support (2) and the antenna assembly (16), the rain sensor (18) is arranged on the front part of the radar support (2) and the top of the rain sensor (18) is flush with the upper end surface of the upper cover plate (1) and passes through the upper cover plate (1), and a plurality of drainage openings (19) are arranged on the bottom of the lower cover plate (4).

5. The sensor module of claim 4, wherein, The front side wall of the lower cover plate (4) is sequentially provided with the second camera (10), the first camera (9), the second radar (8), the first camera (9) and two third cameras (11) with different installation angles from left to right, the right side wall of the lower cover plate (4) is sequentially provided with the second camera (10), the second radar (8) and the first camera (9) from left to right, and the left side wall of the lower cover plate (4) is arranged in a symmetrical form with the right side wall.

6. The sensor module of any one of claims 1 to 5, wherein, The first radar (5) is a multi-line laser radar for positioning, the second radar (8) is a blind area elimination radar for eliminating blind areas, the first camera (9) is an obstacle recognition camera for recognizing obstacles, the second camera (10) is a monitoring camera for real-time monitoring, and the third camera (11) is a traffic light camera for recognizing traffic lights and lane lines.

7. An unmanned vehicle comprising a chassis (100), characterized in that The sensor module (300) as claimed in any one of claims 1 to 6 is also included.

8. The unmanned vehicle of claim 7, wherein, A vehicle head (200) and a cargo box (400) fixedly installed on the chassis (100) and detachably spliced are also included, and the sensor module (300) is detachably installed on the top of the vehicle head (200).

9. The unmanned vehicle of claim 8, wherein, A sealing rubber strip (500) is arranged at the splicing position of the vehicle head (200) and the cargo box (400), and the internal space of the vehicle head (200) and the internal space of the cargo box (400) are combined after splicing.

10. The unmanned vehicle according to claim 8 or 9, characterized in that The bottom plate of the cargo box (400) is also provided with an inspection opening (401) which is communicated to the inside of the chassis (100).

Images