An unmanned vehicle sensor module and unmanned vehicle

Abstract

The utility model relates to the technical field of unmanned vehicle, provide a kind of unmanned vehicle sensor module and unmanned vehicle, and unmanned vehicle sensor module includes encapsulation shell, including mutually sealed and buckled upper shell and lower shell;Left module is laid in the left side edge of accommodating space, for obtaining left side environmental information;Right module is laid in the right side edge of accommodating space, for obtaining right side environmental information;Front module is laid in the front side edge of accommodating space, for obtaining front side environmental information.Unmanned vehicle includes chassis, and side-by-side installation cockpit and container on chassis and unmanned vehicle sensor module.The utility model is integrated into encapsulation shell by left module, right module and front module and forms a module, realizes the modularization design of unmanned vehicle sensing module, can be adapted to the unmanned vehicle platform of multiple different sizes and vehicle type, simplifies design and assembly process, and it is strong in versatility, reduces research and production cost.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vehicle technology, and in particular provides an unmanned vehicle sensor module and an unmanned vehicle. Background Technology

[0002] With the rapid development of artificial intelligence, autonomous driving, and the Internet of Things, intelligent devices such as driverless cars have been widely used in various fields such as urban logistics, inspection, sanitation, and security. In existing driverless car systems, the perception system is one of the key components for achieving autonomous driving. Its main function is to acquire information about the vehicle's surrounding environment through various sensor modules (such as cameras and radar) installed on the vehicle, providing raw data support for autonomous driving algorithms.

[0003] However, the following problems are currently common in the sensor layout and integration of autonomous vehicles: 1. Due to the large differences in appearance and structure between different vehicle models, the placement of sensor modules is inconsistent, requiring the design of different sensor mounting brackets and wiring for each vehicle model. This not only increases the R&D and production costs but also increases the difficulty of maintenance; 2. Since the sensors are scattered in multiple parts of the vehicle, they need to be calibrated offline one by one after assembly. This operation is cumbersome, has poor repeatability, and is prone to errors; 3. Repairing or replacing sensors after failure requires disassembling a large number of parts, which is costly and time-consuming. Utility Model Content

[0004] The purpose of this utility model is to provide an unmanned vehicle sensor module and an unmanned vehicle. Through modular design, it realizes universal arrangement of sensors, standardized manufacturing, rapid installation and replacement, and high-precision calibration, so as to improve the assembly efficiency of the unmanned driving system and the performance of the perception system, and solve the problems of difficulty in adapting to multiple vehicle models, unstable structure, and high maintenance costs in the existing technology.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] This application provides an unmanned vehicle sensor module, including:

[0007] The encapsulation housing includes an upper housing and a lower housing that are sealed and fastened together, the upper housing and the lower housing enclosing a central accommodating space;

[0008] The left module, located on the left edge of the accommodating space, includes at least one radar and multiple cameras for acquiring information about the left-side environment.

[0009] The right module, located on the right edge of the accommodating space, includes at least one radar and multiple cameras for acquiring information about the right-side environment.

[0010] The front module, located at the front edge of the accommodating space, includes at least one radar and multiple cameras for acquiring information about the front environment.

[0011] Furthermore, the unmanned vehicle sensor module also includes a cleaning component, which includes a cleaning nozzle correspondingly disposed on each camera and an air pipe connected to the end of the cleaning nozzle away from the camera.

[0012] Furthermore, the unmanned vehicle sensor module also includes a rain sensor, which passes through the middle of the upper housing, and the upper surface of the rain sensor is flush with the upper surface of the upper housing.

[0013] Furthermore, the left module and the right module have the same structure and are arranged symmetrically.

[0014] Furthermore, the left module includes a first base that is sealed and fastened to the lower housing, and a first camera, a second camera, a first radar, and a third camera are arranged sequentially from right to left on the side of the first base.

[0015] Furthermore, the left module also includes a first camera bracket for fixing the first camera and the second camera to the first base, a radar bracket for fixing the first radar to the first base, and a second camera bracket for fixing the third camera to the first base.

[0016] Furthermore, the front module includes a second base that is sealed and fastened to the lower housing, and a fourth camera, a fifth camera, a second radar, a sixth camera, and a seventh camera are arranged sequentially from right to left on the side of the front module.

[0017] Furthermore, the first and third cameras are target recognition cameras, the second camera is a side-monitoring streaming camera, the fourth and seventh cameras are traffic light recognition cameras, the fifth camera is an obstacle recognition camera, the sixth camera is a front-monitoring streaming camera, the first radar is an infrared radar, and the second radar is a multi-line lidar.

[0018] Furthermore, the upper shell and / or lower shell are made of non-metallic materials, and waterproof adhesive strips are provided at the connection between the first base and the second base and the lower shell.

[0019] This application also provides an unmanned vehicle, including a chassis, a driver's cab and a cargo box mounted side by side on the chassis, and an unmanned vehicle sensor module as described above, the unmanned vehicle sensor module being detachably mounted on the top of the driver's cab.

[0020] The beneficial effects of this utility model are:

[0021] The unmanned vehicle sensor module provided by this utility model integrates the left, right, and front modules into a single package to form a modular design for the unmanned vehicle perception module. This allows it to be adapted to various unmanned vehicle platforms of different sizes and models, simplifying the design and assembly process, enhancing its versatility, and reducing R&D and production costs. The sensor module can be independently calibrated during the assembly stage, and after calibration, it can be directly installed in the vehicle without repeated adjustments, preventing deformation and displacement issues, and significantly improving assembly efficiency and accuracy. In case of malfunction, it can be quickly maintained and replaced without disassembling the entire vehicle, saving repair time and costs, and demonstrating significant engineering practical value.

[0022] The unmanned vehicle provided by this utility model includes the aforementioned unmanned vehicle sensor module, and therefore also has the aforementioned advantages. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of the unmanned vehicle sensor module in one embodiment;

[0025] Figure 2 This is a schematic diagram of the internal structure of the unmanned vehicle sensor module after the upper housing has been removed in one embodiment.

[0026] Figure 3 This is a structural diagram of the left / right module in one embodiment;

[0027] Figure 4 for Figure 3 A structural diagram from another perspective;

[0028] Figure 5 This is a schematic diagram of the front module in one embodiment;

[0029] Figure 6 This is a schematic diagram of the structure of an unmanned vehicle in one embodiment;

[0030] The following are the labeling elements in the figure:

[0031] 1. Upper housing; 2. Lower housing; 3. Left module; 4. Right module; 5. Front module; 6. Cleaning nozzle; 7. Air hose; 8. Rain sensor; 31. First base; 32. First camera; 33. Second camera; 34. First radar; 35. Third camera; 36. First camera bracket; 37. Radar bracket; 38. Second camera bracket; 51. Second base; 52. Fourth camera; 53. Fifth camera; 54. Second radar; 55. Sixth camera; 56. Seventh camera; 100. Chassis; 200. Cabin; 300. Cargo box; 400. Sensor module. Detailed Implementation

[0032] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0033] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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 utility model.

[0034] 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 utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "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 or an electrical 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 utility model according to the specific circumstances.

[0036] Please refer to Figure 1 and Figure 2This application provides an unmanned vehicle sensor module, a key component of unmanned vehicles. Its proper arrangement and installation directly affect the performance, production efficiency, and cost of unmanned vehicles. The module mainly includes a housing, a left module 3, a right module 4, and a front module 5. The housing comprises an upper housing 1 and a lower housing 2 that are sealed together, forming a central accommodating space. The left module 3 is located on the left edge of the accommodating space and includes at least one radar and multiple cameras for acquiring information about the left side of the environment. The right module 4 is located on the right edge of the accommodating space and includes at least one radar and multiple cameras for acquiring information about the right side of the environment. The front module 5 is located on the front edge of the accommodating space and includes at least one radar and multiple cameras for acquiring information about the front side of the environment.

[0037] This application embodiment integrates the left, right, and front modules into a single package to form a modular design for the autonomous vehicle's perception module. This modular design is adaptable to various autonomous vehicle platforms of different sizes and models, simplifying the design and assembly process, enhancing versatility, and reducing R&D and production costs. The sensor module can be independently calibrated during the assembly stage, and can be directly installed in the vehicle without repeated adjustments, preventing deformation and displacement issues, thus significantly improving assembly efficiency and accuracy. In case of malfunction, it can be quickly maintained and replaced without disassembling the entire vehicle, saving repair time and costs, and demonstrating significant engineering practical value.

[0038] In one embodiment, the unmanned vehicle sensor module further includes a cleaning component, which includes a cleaning nozzle 6 corresponding to each camera and an air pipe 7 connected to the end of the cleaning nozzle 6 away from the camera, which, in conjunction with a solenoid valve control, enables periodic dust removal of the camera lens.

[0039] In one embodiment, the unmanned vehicle sensor module further includes a rain sensor 8, which passes through the middle of the upper housing 1 and has its upper surface flush with the upper surface of the upper housing 1. The rain sensor 8 is used to detect the amount of rain and provides feedback when it exceeds the extreme value of rain that the unmanned vehicle can withstand. At the same time, a threshold can be set to trigger the cleaning component to blow away the raindrops on each camera lens in time through the cleaning nozzle.

[0040] It should be noted that the unmanned vehicle sensor module also includes an antenna, a control motherboard, a cooling fan, wiring harness, etc., which are integrated and built into the lower housing 2. The antenna, control motherboard, cooling fan, wiring harness, etc., adopt existing solutions and will not be described in detail here.

[0041] In one embodiment, the left module 3 and the right module 4 have the same structure and are arranged symmetrically, both fixed in the slots opened in the lower housing 2.

[0042] In one embodiment, please refer to Figure 3 and Figure 4 The left module 3 / right module 4 includes a first base 31 that is sealed and fastened to the lower housing 2. The first base 31 has a first camera 32, a second camera 33, a first radar 34 and a third camera 35 arranged sequentially from right to left on its side. The structure is compact and the arrangement is reasonable.

[0043] More specifically, the left module 3 / right module 4 further includes a first camera bracket 36 for detachably fixing the first camera 32 and the second camera 33 to the first base 31, a radar bracket 37 for detachably fixing the first radar 34 to the first base 31, and a second camera bracket 38 for detachably fixing the third camera 35 to the first base 31, which is convenient for assembly and disassembly.

[0044] In one embodiment, please refer to Figure 5 The front module 5 includes a second base 51 that is sealed and fastened to the lower housing 2. From right to left, a fourth camera 52, a fifth camera 53, a second radar 54, a sixth camera 55, and a seventh camera 56 are sequentially arranged on the side of the front module 5. Similar to the left module 3 / right module 4, the fourth camera 52, fifth camera 53, second radar 54, sixth camera 55, and seventh camera 56 are detachably fixed to the second base 51 via camera brackets and radar brackets. Both the camera brackets and radar brackets are manufactured using precision machining to ensure the accuracy of the sensor installation positions.

[0045] In one embodiment, the first camera 32 and the third camera 35 are target recognition cameras, the second camera 33 is a side monitoring streaming camera, the fourth camera 52 and the seventh camera 56 are traffic light recognition cameras, the fifth camera 53 is an obstacle recognition camera, the sixth camera 55 is a front monitoring streaming camera, the first radar 34 is an infrared radar, mainly used for obstacle detection; the second radar 54 is a multi-line lidar, which is the main radar, used for obstacle detection and positioning.

[0046] More specifically, the upper housing 1 and / or lower housing 2 are made of non-metallic materials to ensure that the internal antenna can be used normally; waterproof adhesive strips are provided at the connection between the first base 31 and the second base 51 and the lower housing 2.

[0047] It should be noted that the sizes of the upper shell 1 and lower shell 2 are different for different vehicle models, but the left module 3, right module 4 and front module 5 are all interchangeable.

[0048] This application also provides an unmanned vehicle, such as Figure 6As shown, the vehicle includes a chassis 100, a cockpit 200 and a cargo box 300 mounted side by side on the chassis 100, and also includes an unmanned vehicle sensor module 400 as described above, which is detachably mounted on the top of the cockpit 200.

[0049] The sensor module 400 has been calibrated before assembly. After being installed in the cockpit 200, it only requires plugging in the module power and signal lines, tightening the bolts to lock it in place, and then performing a simple calibration with the vehicle body to complete the installation. This enables rapid adaptation and deployment, saving engineering design and testing costs.

[0050] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A sensor module for an unmanned vehicle, characterized in that, include: The encapsulation housing includes an upper housing (1) and a lower housing (2) that are sealed and fastened together, the upper housing (1) and the lower housing (2) enclosing a central accommodating space; The left module (3) is located on the left edge of the accommodating space and includes at least one radar and multiple cameras for acquiring information about the left environment. The right module (4) is located on the right edge of the accommodating space and includes at least one radar and multiple cameras for acquiring information about the right environment. The front module (5) is located at the front edge of the accommodating space and includes at least one radar and multiple cameras for acquiring information about the front environment.

2. The unmanned vehicle sensor module according to claim 1, characterized in that, It also includes a cleaning component, which includes a cleaning nozzle (6) correspondingly disposed on each camera and an air tube (7) disposed at the end of the cleaning nozzle (6) away from the camera.

3. The unmanned vehicle sensor module according to claim 1, characterized in that, It also includes a rain sensor (8) that passes through the middle of the upper housing (1) and whose upper surface is flush with the upper surface of the upper housing (1).

4. The unmanned vehicle sensor module according to claim 1, characterized in that, The left module (3) and the right module (4) have the same structure and are arranged symmetrically.

5. The unmanned vehicle sensor module according to claim 4, characterized in that, The left module (3) includes a first base (31) that is sealed and fastened to the lower housing (2). The first base (31) has a first camera (32), a second camera (33), a first radar (34) and a third camera (35) arranged sequentially from right to left on its side.

6. The unmanned vehicle sensor module according to claim 5, characterized in that, The left module (3) further includes a first camera bracket (36) for fixing the first camera (32) and the second camera (33) to the first base (31), a radar bracket (37) for fixing the first radar (34) to the first base (31), and a second camera bracket (38) for fixing the third camera (35) to the first base (31).

7. The unmanned vehicle sensor module according to claim 6, characterized in that, The front module (5) includes a second base (51) that is sealed and fastened to the lower housing (2). The front module (5) has a fourth camera (52), a fifth camera (53), a second radar (54), a sixth camera (55), and a seventh camera (56) arranged sequentially from right to left on its side.

8. The unmanned vehicle sensor module according to claim 7, characterized in that, The first camera (32) and the third camera (35) are target recognition cameras, the second camera (33) is a side monitoring streaming camera, the fourth camera (52) and the seventh camera (56) are traffic light recognition cameras, the fifth camera (53) is an obstacle recognition camera, the sixth camera (55) is a front monitoring streaming camera, the first radar (34) is an infrared radar, and the second radar (54) is a multi-line lidar.

9. An unmanned vehicle sensor module according to any one of claims 5 to 8, characterized in that, The upper shell (1) and / or lower shell (2) are made of non-metallic materials, and waterproof strips are provided at the connection between the first base (31) and the second base (51) and the lower shell (2).

10. An unmanned vehicle, comprising a chassis (100), a driver's cab (200) mounted side-by-side on the chassis (100), and a cargo box (300), characterized in that, It also includes an unmanned vehicle sensor module (400) as described in any one of claims 1 to 9, the unmanned vehicle sensor module (400) being detachably mounted on top of the cockpit (200).

Images