Vehicle-mounted sensor follow-up holder device
By designing magnetic limiting components and gear structures, the sensor can be quickly and accurately adjusted, solving the problems of low dynamic compensation and accuracy of traditional vehicle-mounted sensor gimbals, improving perception and positioning capabilities, and reducing costs.
Patent Information
- Application Number
- CN202520488238.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-19
- Publication Date
- 2026-02-24
- Estimated Expiration
- 2035-03-19
AI Technical Summary
Traditional vehicle-mounted sensor gimbals suffer from insufficient dynamic compensation capabilities, low accuracy, and high costs, failing to meet the environmental perception and precise positioning needs of intelligent vehicles.
It employs magnetic limiting components and gear structures, controlling the sensor position by switching electromagnets and magnets on and off. Combined with a drive component, it enables rapid and precise angle adjustment of the sensor, expanding the sensing range.
It improves the sensor's position adjustment accuracy and sensing capability under complex road conditions, reduces mechanical wear, and reduces hardware and software costs.
Smart Images
Figure CN223934629U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle-mounted gimbal technology, specifically to a vehicle-mounted sensor follow-up gimbal device. Background Technology
[0002] With the rapid development of autonomous driving technology, intelligent vehicles have increasingly higher requirements for environmental perception and precise positioning. Onboard sensors, acting as the "eyes" of intelligent vehicles, provide rich environmental data, enhancing the vehicle's perception capabilities. However, traditional onboard sensor gimbals often employ fixed-angle mounting or single-angle pitch adjustment, resulting in the following drawbacks:
[0003] (1) Insufficient dynamic compensation capability: Sensor field of view shifts during rapid vehicle acceleration and steering, causing target tracking failure;
[0004] (2) Low accuracy: Mechanical resonance caused by road bumps affects the accuracy of sensor data;
[0005] (3) High cost: To compensate for the insufficient sensing range of a single vehicle sensor, manufacturers currently adopt the method of installing multiple sensors and performing data fusion, which increases the cost of sensor hardware and software development. Utility Model Content
[0006] In view of the deficiencies in the prior art, the purpose of this application is to provide an on-board sensor follow-up gimbal device.
[0007] One aspect of this application provides an on-board sensor follow-up gimbal device, comprising:
[0008] The gimbal base has an opening at one end;
[0009] A cover plate covers the opening and forms a cavity between it and the gimbal base;
[0010] A sensor base, rotatably mounted on the cover plate, is used to mount and fix the vehicle-mounted sensor;
[0011] A rotating component is disposed below the sensor base and located within the cavity, for driving the sensor base to rotate;
[0012] A magnetic limiting component is disposed on the rotating component. The rotation angle of the rotating component is limited by the opening and closing of the magnetic limiting component, thereby controlling the position of the sensor on the sensor base.
[0013] Furthermore, the magnetic limiting component includes a magnet and an electromagnet, wherein the magnet is disposed below the rotating component and within the attraction range of the electromagnet. After the electromagnet is energized, the electromagnet attracts the magnet, thereby limiting the rotation angle of the rotating component.
[0014] Furthermore, the magnets are multiple and are evenly spaced below the rotating component along its circumference.
[0015] Furthermore, it also includes a transmission component and a drive component. The input end of the transmission component is connected to the drive component, and the output end of the transmission component is connected to the rotating component. The transmission component drives the rotating component to rotate under the drive of the drive component.
[0016] Furthermore, the rotating component is a first gear, and the transmission component is a second gear. The second gear meshes with the first gear and drives the first gear to rotate under the drive of the driving component.
[0017] Furthermore, it also includes installing a partition plate, which is disposed within the cavity to divide the cavity into a first receiving cavity and a second receiving cavity;
[0018] The rotating component and the magnet are located in the first receiving cavity, and one end of the electromagnet extends through the mounting partition toward the magnet.
[0019] Furthermore, the rotating component is a first gear.
[0020] Furthermore, it also includes a second gear and a drive component, the second gear being connected to the drive component; the second gear is meshed with the first gear, and drives the first gear to rotate under the drive of the drive component.
[0021] Furthermore, the drive component is fixed to the mounting partition and located within the second receiving cavity; the transmission component is located within the first receiving cavity.
[0022] Furthermore, it also includes an electromagnet fixing device, which is disposed on the mounting partition and located in the second receiving cavity, for fixing the electromagnet.
[0023] Furthermore, it also includes a controller connected to the magnetic limiting component and the driving component, for controlling the electrical energization or de-energization of the magnetic limiting component and the driving component.
[0024] Compared with the prior art, this application has at least one of the following beneficial effects:
[0025] 1. This application uses the on / off switching of a magnetic limiting component to control the sensor position. The vehicle-mounted sensor can not only reach the specified angle position quickly and accurately, but also has a simple structure, avoiding wear caused by rotation in purely mechanical systems.
[0026] 2. This application expands the sensor's field of view in the horizontal direction by setting a first gear, and combines magnets and electromagnets to achieve a shock-resistant design, ensuring the accuracy of sensor position adjustment under complex road conditions, enhancing the sensing range of a single vehicle sensor, and improving the sensing and positioning capabilities of the vehicle sensor. Attached Figure Description
[0027] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:
[0028] Figure 1 This is a schematic diagram of a vehicle-mounted sensor follow-up gimbal device according to one embodiment of this application.
[0029] Figure 2 This is a diagram showing the position of the magnet mounted on the first gear in one embodiment of this application.
[0030] Figure 3 This is a packaging diagram of a vehicle-mounted sensor follow-up gimbal device according to one embodiment of this application.
[0031] Figure 4 This is a control circuit diagram of a vehicle-mounted sensor follow-up gimbal device according to one embodiment of this application.
[0032] In the diagram: 1. Sensor base; 2. First gear; 3. Magnet; 4. Electromagnet fixing device; 5. Electromagnet; 6. Cover plate; 7. Second gear; 8. Mounting partition; 9. Drive component; 10. Controller; 11. Gimbal base; 12. Vehicle sensor. Detailed Implementation
[0033] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.
[0034] It should be understood that the terms "first," "second," etc., in the following embodiments are used to distinguish different objects, not to describe a specific order. The terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or sets thereof. In the description of this specification, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for ease of description and simplification, not to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.
[0035] Reference Figure 1 As shown, an embodiment of this application discloses a vehicle-mounted sensor follow-up gimbal device, comprising: a gimbal base 11 with an opening at one end; a cover plate 6 covering the opening and forming a cavity between the cover plate 6 and the gimbal base 11; a sensor base 1 rotatably mounted on the cover plate 6 for mounting and fixing a vehicle-mounted sensor 12; a rotating component disposed below the sensor base 1 within the cavity for driving the sensor base 1 to rotate; and a magnetic limiting component disposed on the rotating component, which limits the rotation angle of the rotating component by opening and closing the magnetic limiting component, thereby controlling the position of the sensor on the sensor base.
[0036] This application uses the on / off state of an electromagnet 5 to control the position of a sensor. The vehicle sensor 12 is mounted on a sensor base 1. The rotating component drives the sensor base 1 to rotate at any angle, which expands the sensing range of the vehicle sensor 12. The rotation angle of the rotating component is limited by the on / off state of a magnetic limiting component, which can achieve fast and accurate arrival at a specified angle position. The structure is also relatively simple, avoiding wear caused by rotation in purely mechanical systems.
[0037] Specifically, during operation, when rotation is required, the magnetic limiting component is de-energized, and the rotating component drives the sensor base 1 to rotate. After the vehicle sensor 12 on the sensor base 1 rotates to the desired angle, the magnetic limiting component is energized to restrict the rotation of the rotating component, ensuring the accuracy of sensor position adjustment under complex road conditions, enhancing the sensing range of a single vehicle sensor 12, and improving the sensing and positioning capabilities of the vehicle sensor 12.
[0038] In some possible embodiments, the magnetic limiting component includes a magnet 3 and an electromagnet 5, wherein the magnet 3 is disposed below the rotating component and is located within the attraction range of the electromagnet 5. When the electromagnet 5 is energized, the electromagnet 5 attracts the magnet 3, thereby limiting the rotation angle of the rotating component.
[0039] The attraction range of electromagnet 5 refers to the maximum distance at which electromagnet 5 can effectively attract ferromagnetic materials after being energized.
[0040] Specifically, during operation, when rotation is required, the electromagnet 5 is de-energized, and the rotating component drives the sensor base 1 to rotate. After the vehicle sensor 12 on the sensor base 1 rotates to the desired angle, the electromagnet 5 is energized, and the electromagnet 5 attracts the magnet 3 below the rotating component, thereby limiting the rotation of the rotating component. This ensures the accuracy of sensor position adjustment under complex road conditions, enhances the sensing range of a single vehicle sensor 12, and improves the sensing and positioning capabilities of the vehicle sensor 12.
[0041] In this configuration, the magnetic poles of magnet 3 and electromagnet 5 are positioned opposite each other, and the magnetic poles attract each other when energized.
[0042] In some specific embodiments, there are multiple magnets 3, which are evenly spaced below the rotating component along the circumference of the rotating component.
[0043] Specifically, multiple magnets 3 are evenly spaced along the circumference of the first gear 2, and can be controlled by energizing the electromagnet 5 when the first gear 2 rotates to different angles.
[0044] Reference Figure 2 As shown in this application, in one specific embodiment, a magnet mounting hole is provided below the first gear 2, with multiple holes for placing magnets 3. The number of magnets 3 is three, which can adjust the sensor to three relatively fixed angles, realize the sensor's 180° field of view expansion in the horizontal direction, achieve high positional accuracy, and expand the sensing range of the vehicle sensor 12.
[0045] In some specific embodiments, a transmission component and a drive component 9 are also included. The input end of the transmission component is connected to the drive component 9, and the output end of the transmission component is connected to the rotating component. The transmission component drives the rotating component to rotate under the drive of the drive component 9.
[0046] Specifically, the rotating component is the first gear 2, the transmission component is the second gear 7, and the second gear 7 is connected to the driving component 9; the second gear 7 is meshed with the first gear 2, and drives the first gear 2 to rotate under the drive of the driving component 9.
[0047] In some specific embodiments, a partition 8 is also included, which is disposed in the cavity to divide the cavity into a first receiving cavity and a second receiving cavity.
[0048] The rotating component and the magnet 3 are located in the first receiving cavity, and one end of the electromagnet 5 extends through the mounting partition 8 toward the magnet 3.
[0049] The drive component 9 is fixed on the mounting partition 8 and located in the second receiving cavity; the second gear 7 is located in the first receiving cavity; and one end of the electromagnet 5 extends to the range where it can be attracted to the magnet 3 after being energized.
[0050] Specifically, when energized, the N pole of electromagnet 5 faces upward, and the distance between the N pole of electromagnet 5 and the S pole of magnet 3 is less than 1mm.
[0051] The drive component 9 is a motor.
[0052] Specifically, holes are drilled at designated positions on the sensor base 1 to mount the corresponding vehicle sensor 12; the first gear 2 is connected and fixed to the sensor base 1 by bolts; the second gear 7 engages with the first gear 2 through gear meshing; the drive component 9 passes through the mounting partition 8 via the drive component bearing and is then connected to the second gear 7; the three magnets 3 and the electromagnet 5 attract each other through a strong magnetic field when the electromagnet 5 is energized, thereby locking the position.
[0053] In some specific embodiments, an electromagnet fixing device 4 is also included, which is disposed on the mounting partition 8 and located in the second receiving cavity, for fixing the electromagnet 5.
[0054] In some specific embodiments, a controller 10 is also included, which is connected to the magnetic limiting component and the driving component 9, for controlling the electrical energization or de-energization of the magnetic limiting component and the driving component 9.
[0055] The electromagnet fixing device 4 is used to mount the electromagnet 5 and is fixed to the mounting partition 8 by bolts; the controller 10 controls the energizing state and time of the electromagnet 5 through the signal conversion module, and also controls the energizing state, direction and speed of the drive component 9. The control circuit is as follows: Figure 4 As shown; the cover plate 6 is used to encapsulate the gimbal, and the gimbal base 11 is fixed to the intelligent vehicle by bolts.
[0056] exist Figure 3In the embodiment shown, the intelligent vehicle stores the current angular position information of the on-board sensor 12 (the angular position information of the sensor base 1 at the previous moment). Due to changes in road conditions (such as the need to turn), intelligent vehicles need to switch sensor angles. The vehicle-mounted sensor 12 in the above embodiment can be further connected to a computer. The computer sends the expected target sensor angle position information and the next moment's sensor base 1 angle position information to the controller 10. The controller 10 controls the electromagnet 5 to become de-energized, causing it to lose power and its magnetic force to disappear, allowing the sensor base 1 to rotate. Simultaneously, the controller 10 controls the drive component 9 to rotate the second gear 7 at a certain speed, which in turn drives the first gear 2, thereby rotating the sensor base 1. When the sensor base 1 is about to reach but has not yet fully reached the next designated position at a specified time, the controller 10 controls the electromagnet 5 to re-energize and simultaneously controls the drive component 9 to de-energize. When the sensor base 1 and the first gear 2 rotate to near the next designated position, since the electromagnet 5 is energized, there is a strong mutual attraction between the magnet 3 and the electromagnet 5. The first gear 2 will then drive the sensor base 1 to rotate to the next designated position and lock the position, completing the sensor angle position switch.
[0057] By using an electromagnet 5 mounted on a gear and then controlling the on / off state of the electromagnet 5 via a controller 10, the angle of the gimbal and its mounted sensors can be automatically adjusted. This allows the sensors to be adjusted to three relatively fixed angles with high positional accuracy, and also expands the sensing range of the vehicle-mounted sensor 12.
[0058] The specific embodiments of this application have been described above. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.
Claims
1. A vehicle-mounted sensor follow-up gimbal device, characterized in that, include: The gimbal base has an opening at one end; A cover plate covers the opening and forms a cavity between it and the gimbal base; A sensor base, rotatably mounted on the cover plate, is used to mount and fix the vehicle-mounted sensor; A rotating component is disposed below the sensor base and located within the cavity, for driving the sensor base to rotate; A magnetic limiting component is disposed on the rotating component. The rotation angle of the rotating component is limited by the opening and closing of the magnetic limiting component, thereby controlling the position of the sensor on the sensor base.
2. The vehicle-mounted sensor follow-up gimbal device according to claim 1, characterized in that, The magnetic limiting component includes a magnet and an electromagnet. The magnet is located below the rotating component and within the attraction range of the electromagnet. When the electromagnet is energized, the electromagnet attracts the magnet, thereby limiting the rotation angle of the rotating component.
3. The vehicle-mounted sensor follow-up gimbal device according to claim 2, characterized in that, The magnets are multiple and are evenly spaced below the rotating component along its circumference.
4. The vehicle-mounted sensor follow-up gimbal device according to claim 2, characterized in that, It also includes a transmission component and a drive component. The input end of the transmission component is connected to the drive component, and the output end of the transmission component is connected to the rotating component. The transmission component drives the rotating component to rotate under the drive of the drive component.
5. The vehicle-mounted sensor follow-up gimbal device according to claim 4, characterized in that, The rotating component is a first gear, and the transmission component is a second gear. The second gear meshes with the first gear and drives the first gear to rotate under the drive of the driving component.
6. The vehicle-mounted sensor follow-up gimbal device according to claim 4, characterized in that, It also includes installing a partition plate, which is disposed within the cavity to divide the cavity into a first receiving cavity and a second receiving cavity; The rotating component and the magnet are located in the first receiving cavity, and one end of the electromagnet extends through the mounting partition toward the magnet.
7. The vehicle-mounted sensor follow-up gimbal device according to claim 6, characterized in that, The drive component is fixed to the mounting partition and located in the second receiving cavity; the transmission component is located in the first receiving cavity.
8. The vehicle-mounted sensor follow-up gimbal device according to claim 6, characterized in that, It also includes an electromagnet fixing device, which is disposed on the mounting partition and located in the second receiving cavity, for fixing the electromagnet.
9. A vehicle-mounted sensor follow-up gimbal device according to claim 4, characterized in that, It also includes a controller connected to the magnetic limiting component and the driving component, used to control the electrical energization or de-energization of the magnetic limiting component and the driving component.