Sensor holder for attaching a sensor to a vehicle and vehicle with such a sensor holder

Abstract

The invention relates to a sensor holder (2) for attaching a sensor (1) to a vehicle (4), comprising an angle bracket (2a) with at least one first tab (2.1) extending in a first plane and at least one second tab (2.2) extending in a second plane orthogonal to the first plane of the first tab (2.1). The sensor holder (2) additionally has on the first tab (2.1) a first pivot point (10.1) for the pivotable mounting of a manual lever (5) about a third axis of rotation (D3) aligned parallel to a first axis of rotation (D1), and the second tab (2.2) of the sensor holder (2) additionally has a second pivot point (10.2) for the pivotable mounting of a manual lever (5) about a fourth axis of rotation (D4) aligned parallel to a second axis of rotation (D2). The invention further relates to a vehicle (4) with such a sensor holder (2).

Description

[0001] The invention relates to a sensor holder for attaching a sensor to a vehicle, comprising an angle connector with at least one first tab extending in a first plane and at least one second tab extending in a second plane orthogonal to the first plane of the first tab. The invention also relates to a vehicle with such a sensor holder.

[0002] DE 10 2015 210 521 A1 describes a holding device for an object, comprising a fastening area to which an object can be fastened, and which is U-shaped, comprising a first fastening section and a second fastening section, between which the object can be positioned, wherein the first fastening section has a first elongated hole and the second fastening section has a second elongated hole, wherein the first elongated hole and the second elongated hole run longitudinally in a vertical or diagonal direction, a first leg which adjoins an upper end of the first fastening section and is angled away from the first fastening section, and which has a third elongated hole which runs transversely to the first elongated hole, and a second leg which adjoins an upper end of the second fastening section and is angled away from the second fastening section, and which has a fourth elongated hole,which runs transversely to the second slot.

[0003] DE 20 2016 007 625 U1 describes a sensor holder for a vehicle, comprising a base frame with fastening means for fastening the base frame to a vehicle, a first intermediate frame which is held on the base frame so as to be rotatable about a first axis, and a second intermediate frame which is mounted so as to be rotatable about a second axis, which second axis of rotation is aligned orthogonally to the first axis of rotation, wherein means for fixing the frames relative to one another are further provided, and wherein at least one adjusting screw is provided which, when actuated, causes a relative movement between the base frame and the first or second intermediate frame.

[0004] US Pat. No. 6,762,790 B1 describes a universal mount that allows a 180-degree tilt adjustment for a camera. The camera features two brackets that can be adjusted to various mounting angles on any surface of a vehicle configuration. Furthermore, the universal mount is designed to be rigid and prevent the camera from vibrating, thus avoiding a blurred image on a display unit.

[0005] The object of the invention is to provide a sensor holder which enables a particularly precise position adjustment of a sensor attached to the sensor holder using simple means.

[0006] The object is achieved by a sensor holder for attaching a sensor to a vehicle, comprising: - an angle connector with at least one first tab extending in a first plane and at least one second tab extending in a second plane orthogonal to the first plane of the first tab, wherein - the first tab has a first pivot bearing rotatable about a first axis of rotation, which is designed for the direct mounting of the angle connector on a frame part of a vehicle, and has at least one first elongated hole, via which the angle connector is to be fastened to the frame part of the vehicle in a rotationally fixed manner by means of a first fastening means projecting through the first elongated hole, and - the second tab has a second pivot bearing which is rotatable about a second axis of rotation and which is designed for the direct mounting of a sensor housing of a sensor on the angle connector, and has at least one second elongated hole via which the sensor housing of the sensor can be fastened to the angle connector in a rotationally fixed manner by means of a second fastening means projecting through the second elongated hole, and wherein - the first tab additionally has a first articulation point for the pivotable reception of a manual lever about a third axis of rotation aligned parallel to the first axis of rotation and the second tab additionally has a second articulation point for the pivotable reception of a manual lever about a fourth axis of rotation aligned parallel to the second axis of rotation.

[0007] Vehicles equipped with such a sensor mount can, in particular, be autonomous vehicles. The autonomous vehicle can be an omnidirectional vehicle. It can be configured to transport workpieces or other loads. The vehicle can also be a mobile platform for the local movement of autonomous robot arms.

[0008] The two orthogonal planes determine the adjustable rotation axes of the sensor mount and thus define the position of the sensor plane. They are used for the corresponding adjustment relative to a reference plane. For example, in the case of autonomous vehicles, the sensor mount can serve to mount a 2D safety scanner and thus span a scanner plane parallel to the ground.

[0009] Accordingly, the sensor can, for example, be a sensor for controlling and navigating the autonomous vehicle. In particular, the sensor can be a radar sensor or a laser sensor, in particular a LIDAR sensor. This can detect the vehicle's surroundings and, with the aid of such detection, can be used for object detection, in particular for obstacle detection.

[0010] The angle connector as such is preferably designed as a single piece. This means that, apart from fastening means, a sensor can be connected to the vehicle via a single connecting piece. On the one hand, the sensor is attached directly to the single angle connector, and on the other hand, the angle connector is attached directly to a frame part of the vehicle. The sensor is thus connected to the vehicle exclusively via the single angle connector. This has the advantage that the transmission chain from sensor to vehicle is as short as possible and, in particular, the sensor holder does not have a multi-part chain of connecting parts that would in turn be connected to one another and would therefore have to be adjusted and / or fixed in their mutual positions and orientations in order to be able to create the precise assignment of sensor to vehicle with regard to position and orientation.Due to the one-piece design of the angle connector, there is a fixed, rigid assignment of the first tab of the sensor holder to the second tab of the sensor holder.

[0011] The vehicle frame part to which the sensor holder is to be attached using its first tab can be virtually any component of the vehicle. For example, the frame part can be a component of the vehicle's chassis. However, the frame part can also be a component of a housing or chassis of the vehicle.

[0012] The angle connector can, for example, be a sheet metal part. The sheet metal part can initially be produced by punching it out of a large sheet, and then the first tab and the second tab can be formed into a sheet metal angle by bending the initially flat sheet metal part. The angle connector can also be produced from a sheet metal part by laser cutting or waterjet cutting. Here, too, the first tab and the second tab can subsequently be formed into a sheet metal angle by bending the initially flat, laser-cut or waterjet-cut sheet metal part.

[0013] In the angle connector, the at least one first tab is perpendicular to the at least one second tab of the sensor holder.

[0014] The sensor holder can be mounted on a frame part of the vehicle by means of the first pivot bearing of the first bracket. Such a first pivot bearing fixes the sensor holder to the vehicle frame part with respect to the vehicle, with the exception of the single degree of freedom of rotation about the first axis of rotation of the first pivot bearing. When the sensor holder is mounted on the vehicle by means of the first pivot bearing, the sensor holder can thus only be adjusted relative to the vehicle by rotation about the first axis of rotation of the first pivot bearing, with the other five degrees of freedom being fixed and non-adjustable.

[0015] By means of the first fastening means and via the first elongated hole, the sensor holder is also fixed in its axial direction along the first axis of rotation, wherein if the connection of the first fastening means is slightly loosened, the sensor holder can be rotated about the first axis of rotation due to the first elongated hole. The first elongated hole offers the possibility of rotating the sensor holder or the first tab of the sensor holder relative to the frame part of the vehicle, wherein the first fastening means can move along the first elongated hole as long as the first fastening means is not tightened. The first fastening means can, for example, be a screw that can be screwed into a threaded hole in the frame part of the vehicle.

[0016] To fine-tune the orientation of the sensor holder relative to the frame part of the vehicle, the first fastening means can, for example, be slightly loosened and the sensor holder or the first tab of the sensor holder can be finely adjusted using a manual lever attached to the sensor holder as a hand tool. For this purpose, the first tab has a first pivot point to which the manual lever can be attached. If the manual lever is attached to the first pivot point, the manual lever can be rotated about this first pivot point so that the manual lever can be manually pivoted about the third axis of rotation, which runs parallel to the first axis of rotation, without the manual lever losing its position on the sensor holder. By manually operating the manual lever, the first tab or the entire angle connector can be pivoted relative to the frame part of the vehicle.If the lever length of the section of the lever to be gripped manually is significantly longer than the section of the lever supported on the frame part of the vehicle, reorientation of the sensor holder with respect to the vehicle can be carried out particularly sensitively and precisely due to the resulting translation.

[0017] Analogously, such a particularly sensitive or precise adjustment can also be carried out on the second tab by reorienting the sensor with respect to the sensor holder using the manual lever.

[0018] Accordingly, a sensor can be mounted on the sensor holder by means of the second pivot bearing of the second bracket. Such a second pivot bearing fixes the sensor relative to the sensor holder, with the exception of the single degree of freedom of rotation about the second axis of rotation of the second pivot bearing. When the sensor is mounted on the sensor holder by means of the second pivot bearing, the sensor can thus only be adjusted relative to the sensor holder by rotation about the second axis of rotation of the second pivot bearing, with the other five degrees of freedom being fixed.

[0019] By means of the second fastening means and via the second elongated hole, the sensor is also fixed in its axial direction along the second axis of rotation. If the connection of the second fastening means is slightly loosened, the sensor can be rotated about the second axis of rotation due to the second elongated hole. The second elongated hole offers the possibility of rotating the sensor relative to the sensor holder or relative to the second tab of the sensor holder. The second fastening means can move along the second elongated hole as long as the second fastening means is not tightened. The second fastening means can, for example, be a screw that can be screwed into a threaded hole in the sensor.

[0020] For fine adjustment of the orientation of the sensor relative to the sensor holder, the second fastening means can, for example, be loosened slightly and the sensor can be finely adjusted using a manual lever attached to the sensor holder as a hand tool. For this purpose, the second tab has a second pivot point to which the manual lever can be attached. If the manual lever is attached to the second pivot point, the manual lever can be rotated around this second pivot point so that the manual lever can be manually pivoted about the fourth axis of rotation, which runs parallel to the second axis of rotation, without the manual lever losing its position on the sensor holder. By manually operating the manual lever, the sensor can thus be pivoted relative to the second tab or relative to the entire angle connector.If the lever length of the section of the lever to be gripped manually is significantly longer than the section of the lever supported on the sensor, reorientation of the sensor with respect to the sensor holder can be carried out particularly sensitively and precisely due to the resulting translation.

[0021] The first pivot bearing and / or the second pivot bearing can each be formed as a pairing consisting of a bore and a shaft or axle. The respective bore can be provided, for example, on the angle connector or on the first bracket and / or on the second bracket, wherein the corresponding shaft or axle is formed on the frame part of the vehicle and / or on the sensor. The pairing of bore and shaft or axle can be dimensioned as a fit with regard to their diameter, in particular as a movable transition fit or a clearance fit without noticeable play, so that the shaft or axle can be rotated by hand in the bore but is free of play in the other degrees of freedom.

[0022] The first articulation point can be formed by a first bore in the first tab, which is designed to insert a projecting axle pin of a manual lever and / or the second articulation point can be formed by a second bore in the second tab, which is designed to insert a projecting axle pin of a manual lever.

[0023] When the projecting axle pin of the manual lever is inserted into the first hole of the first articulation point, the manual lever is rotatably mounted on the first tab of the angle connector. When the projecting axle pin of the manual lever is inserted into the second hole of the second articulation point, the manual lever is rotatably mounted on the second tab of the angle connector. A single lever can be provided which can be detachably mounted on the angle connector so that the manual lever can be temporarily mounted either on the first tab or on the second tab. The manual lever can be removed from the sensor holder after the sensor holder has been adjusted relative to the vehicle and / or the sensor relative to the sensor holder.

[0024] The manual lever may have a first lever length forming a manually grippable first portion of the lever, and the manual lever may have a second lever length forming a second portion of the lever supported on the frame part of the vehicle or on the sensor.

[0025] In a special embodiment, the first tab can have a first recess which is designed to guide a first steering pin connected to the frame part of a vehicle or to a sensor housing of a sensor, such that when the sensor holder is mounted on the frame part of the vehicle or the sensor housing of the sensor, the first steering pin projects through the sensor holder in such a way that a manual lever attached to the first articulation point with a fork-shaped end section of the manual lever as the second section of the lever engages around the projecting first steering pin from two opposite sides.

[0026] If the first section of the lever, which is to be grasped manually, is pivoted around the first pivot point, for example, with a person's hand, the fork-shaped end section of the manual lever also pivots through the corresponding pivot angle. The fork-shaped end section of the lever moves the first steering pin, which, for example, moves the sensor connected to the first steering pin, i.e., pivots it around the first axis of rotation.

[0027] If, in another embodiment, the first steering pin is connected to a frame part of the vehicle, pivoting the manual lever pivots the sensor holder, possibly together with the sensor, relative to the frame part of the vehicle. In this embodiment, the lever is supported on the first steering pin, and the sensor holder is moved by the manual lever applying a force to the first tab of the sensor holder via its first pivot point, causing the sensor holder to pivot.

[0028] The second tab can have a second recess which is designed to pass through a second steering pin connected to the frame part of a vehicle or to a sensor housing of a sensor, such that when the sensor holder is mounted on the frame part of the vehicle or the sensor housing of the sensor, the second steering pin projects through the sensor holder in such a way that a manual lever attached to the second articulation point with a fork-shaped end section of the manual lever engages around the projecting second steering pin from two opposite sides.

[0029] If the first section of the lever, which is to be grasped manually, is pivoted around the second pivot point, for example, with a person's hand, the fork-shaped end section of the manual lever also pivots through the corresponding pivot angle. In doing so, the fork-shaped end section of the lever moves the second steering pin, which, for example, moves the sensor connected to the second steering pin, i.e., pivots it around the second axis of rotation.

[0030] If, in another embodiment, the second steering pin is connected to a frame part of the vehicle, pivoting the manual lever pivots the sensor holder, possibly together with the sensor, relative to the frame part of the vehicle. In this embodiment, the lever is supported on the second steering pin, and the sensor holder is moved by the manual lever, via its second pivot point, applying a force to the second tab of the sensor holder, which causes the sensor holder to pivot.

[0031] The first recess can be formed by the first elongated hole of the first tab of the angle connector and the first steering pin by the first fastening means and / or the second recess can be formed by the second elongated hole of the second tab of the angle connector and the second steering pin by the second fastening means.

[0032] If the first steering pin is formed by the first fastening means, a separate steering pin in addition to the first fastening means can be omitted. This advantage can also arise if the second steering pin is formed by the second fastening means, so that a separate steering pin in addition to the second fastening means can be omitted. The first fastening means can in particular be a first screw having a first screw head to which the lever can be attached. Accordingly, the second fastening means can also be a second screw having a second screw head to which the lever can be attached.

[0033] The first elongated hole and the second elongated hole can each extend on a circular circumferential path section with a center point on the first axis of rotation and on the second axis of rotation, respectively.

[0034] The first articulation point can be formed by a first inner shell wall of a first cutout in the first tab, which is designed to roll over an outer shell wall of a cam of a manual lever and / or the second articulation point can be formed by a second inner shell wall of a second cutout in the second tab, which is designed to roll over an outer shell wall of a cam of a manual lever.

[0035] The cam can have a circular cross-section. The first cutout in the first tab can have the shape of an elongated hole. Such an elongated hole has a semicircular contour on its two opposite narrow sides, and the two opposite long sides are straight and parallel to each other. The diameter of the cam with a circular cross-section can correspond to the radius of curvature of the semicircular contours of the two narrow sides of the elongated hole, i.e., they fit together without any play.

[0036] Likewise, the second cutout in the second tab can be shaped like an elongated hole. Such an elongated hole has a semicircular contour on its two opposite narrow sides, and the two opposite long sides are straight and parallel to each other. The diameter of the cam, which has a circular cross-section, can correspond to the radius of curvature of the semicircular contours of the two narrow sides of the elongated hole, i.e., they fit together without any clearance.

[0037] The first cutout and / or second cutout formed as an elongated hole can extend with their parallel long sides parallel to the radial direction toward the first axis of rotation or the second axis of rotation. The first cutout and / or second cutout formed as an elongated hole can extend with their longitudinal extent perpendicular to the first elongated hole and / or perpendicular to the second elongated hole.

[0038] The first inner casing wall of the first cutout can be formed in the first tab to follow the cam of the manual lever when the manual lever is inserted with its cam into the first cutout, wherein when the manual lever is inserted into the first cutout, an axle bolt extending axially away from the cam engages in a corresponding first bolt receptacle in the frame part of a vehicle or in a sensor housing of a sensor, such that by pivoting the manual lever about an axis of rotation of the cam of the manual lever passing through the axle bolt, the cam can be eccentrically adjusted and by rolling the outer casing wall of the cam on the first inner casing wall of the first cutout, the first tab can be reoriented about the first axis of rotation of the first pivot bearing.

[0039] The axle pin can thus extend from a circular end face of the cam, with the pin axis parallel to the center axis of the cylindrical cam. The pin axis is offset from the center axis of the cylindrical cam.

[0040] The second inner casing wall of the second cutout can be formed in the second tab to follow the cam of the manual lever when the manual lever is inserted with its cam into the second cutout, wherein when the manual lever is inserted into the second cutout, an axle bolt extending axially away from the cam engages in a corresponding second bolt receptacle in the frame part of a vehicle or in a sensor housing of a sensor, such that by pivoting the manual lever about an axis of rotation of the cam of the manual lever passing through the axle bolt, the cam can be eccentrically adjusted and by rolling the outer casing wall of the cam on the second inner casing wall of the second cutout, the second tab can be reoriented about the second axis of rotation of the second pivot bearing.

[0041] The axle pin can also extend from a circular end face of the cam, with the pin axis parallel to the center axis of the cylindrical cam. The pin axis is offset from the center axis of the cylindrical cam.

[0042] The first cutout can be formed by an opening in the first tab that is separate from the first elongated hole in the first tab of the angle connector and / or the second cutout can be formed by an opening in the second tab that is separate from the second elongated hole in the second tab of the angle connector.

[0043] At least one manual lever can be pivotably mounted on the sensor holder.

[0044] In such an embodiment, the manual lever forms part of the sensor holder. The manual lever can be pivotally mounted on the sensor holder by means of a bearing around the first steering pin of the sensor holder or around the second steering pin of the sensor holder, whereby the manual lever can be permanently connected to the sensor holder in the remaining five degrees of freedom. In this embodiment, the lever cannot be easily removed from the sensor holder using a person's hands without tools.

[0045] Alternatively, at least one manual lever may be manufactured as a hand tool separate from the sensor holder and configured for temporary, releasable pivotal mounting on the sensor holder.

[0046] In this alternative embodiment, the lever forms a separate hand tool from the sensor holder. Accordingly, the separate lever can be easily attached to the sensor holder manually by one person and removed from the sensor holder manually without the need for tools.

[0047] A further object of the invention is to provide a vehicle with a sensor and a sensor holder, in which a particularly precise position adjustment of a sensor attached to the vehicle via the sensor holder is made possible by simple means.

[0048] This object is achieved by a vehicle having a frame part and a sensor, wherein the sensor is fastened to the frame part of the vehicle by means of a sensor holder according to one of the described embodiments.

[0049] The vehicle frame part to which the sensor holder is to be attached using its first tab can be virtually any component of the vehicle. For example, the frame part can be a component of the vehicle's chassis. However, the frame part can also be a component of a housing or chassis of the vehicle.

[0050] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may represent general features of the invention, even when considered individually or in further combinations.

[0051] They show: Fig. 1 a side view of an exemplary embodiment of a sensor holder according to the invention with a sensor attached thereto without a manual lever, Fig. 2 a side view of an exemplary embodiment of a sensor holder according to the invention with a sensor attached thereto with an attached lever in a basic position, Fig. 3 a side view of an exemplary embodiment of a sensor holder according to the invention with a sensor attached thereto with an attached lever in a counterclockwise pivoted position, Fig. 4 a side view of an exemplary embodiment of a sensor holder according to the invention with a sensor attached thereto with an attached lever in a clockwise pivoted position, Fig. 5 a perspective view of the sensor holder according to the invention in a standalone position from the front, Fig. 6 a perspective view of the sensor holder according to the invention in a standalone position from behind, Fig. 7 a perspective view of the sensor holder according to the invention in a front view with a mounted sensor, Fig. 8 a perspective view of the sensor holder according to the invention in a view from behind with a mounted sensor, Fig. 9 a perspective view of the sensor holder according to the invention in a front view with a fixed sensor and two attached manual levers, Fig. 10 is a perspective view of the sensor holder according to the invention in a rear view with a fixed sensor and two attached manual levers, and Fig. 11 is a perspective view of an exemplary vehicle with a sensor holder according to the invention and a sensor attached thereto.

[0052] In Fig. 1 to Fig. 4 shows an assembly comprising a sensor 1, in particular in the form of a LIDAR sensor 1a, and a sensor holder 2 according to the invention.

[0053] In the Fig. 1, the sensor 1 is in its basic position. By means of a first screw 3.1, a second screw 3.2 and a third screw 3.3, the sensor holder 2 can be attached to a frame part 4a of a vehicle 4 ( Fig. 11) are attached.

[0054] The Fig. 2 shows the assembly according to Fig. 1 with a manual lever 5 attached to it, also in the basic position.

[0055] In the representation according to Fig. 3, a manually gripped portion 5a of the lever 5 is adjusted downward by an angular amount. This causes the sensor 1 to pivot counterclockwise.

[0056] By manually operating the manual lever 5, the sensor 1 can thus be pivoted relative to the sensor holder 2. If the lever length of the manually gripped portion 5a of the lever 5 is significantly longer than a portion 5b of the lever 5 supported on the sensor 1, a reorientation of the sensor 1 relative to the sensor holder 2 can be carried out particularly sensitively and precisely due to the resulting translation.

[0057] In the Fig. 5 and Fig. 6 the sensor holder 2 is shown in a standalone position.

[0058] The sensor holder 2 comprises an angle connector 2a with at least one first tab 2.1 extending in a first plane and at least one second tab 2.2 extending in a second plane orthogonal to the first plane of the first tab.

[0059] The first bracket 2.1 has a first pivot bearing 6.1 which is rotatable about a first axis of rotation D1 and is designed to directly support the angle connector 2a on a frame part 4a of a vehicle 4.

[0060] The first tab 2.1 also comprises at least one first elongated hole 7.1, via which the angle connector 2a is to be fastened in a rotationally fixed manner to the frame part 4a of the vehicle 4 by means of a first fastening means 8.1 projecting through the first elongated hole 7.1. In the case of the present embodiment, the first fastening means 8.1 is formed by the second screw 3.2 or the third screw 3.3.

[0061] The second tab 2.2 has a second pivot bearing 6.2 which is rotatable about a second axis of rotation D2 and is designed to directly support a sensor housing 9 of the sensor 1 on the angle connector 2a.

[0062] The second tab 2.2 also comprises at least one second elongated hole 7.2, via which the sensor housing 9 of the sensor 1 is to be rotationally fixedly fastened to the angle connector 2a by means of a second fastening means 8.2 extending through the second elongated hole 7.2. In the present embodiment, the angle connector 2a has two second tabs 2.2, which encompass the sensor housing 9 of the sensor 1 on the left and right sides, respectively.

[0063] The first tab 2.1 additionally has a first articulation point 10.1 for the pivotable reception of the manual lever 5 about a third axis of rotation D3 aligned parallel to the first axis of rotation D1.

[0064] In the case of the present embodiment, each of the two second tabs 2.2 additionally has a second articulation point 10.2 for the pivotable reception of an alternatively designed manual lever 5 about a fourth axis of rotation D4 aligned parallel to the second axis of rotation D2.

[0065] In the case of the present embodiment, the second articulation point 10.2 is formed by a second bore in the second tab 2.2, which is designed to insert a projecting axle pin 11 of the manual lever 5.

[0066] The second tab 2.2 also has a second recess 12.2, which is designed to guide a second steering pin 13.2 connected to the sensor housing 9 of the sensor 1, such that when the sensor holder 2 is mounted on the sensor housing 9 of the sensor 1, the second steering pin 13.2 projects through the sensor holder 2 such that a manual lever 5 attached to the second articulation point 10.2 with a fork-shaped end section of the manual lever 5 engages the projecting second steering pin 13.2 from two opposite sides, as is the case, for example, in Fig. 2, Fig. 3 and Fig. 4. The second recess 12.2 is simultaneously formed by the second elongated hole 7.2. The second steering pin 13.2 is designed as a screw extending through the second elongated hole 7.2. The fork-shaped end portion of the manual lever 5 engages a screw head of the screw.

[0067] Thus, the second recess 12.2 is formed by the second elongated hole 7.2 of the second tab 2.2 of the angle connector 2a and the second steering pin 13.2 is formed by the second fastening means 8.2.

[0068] The first articulation point 10.1, however, is formed in the case of the present embodiment by a first inner shell wall 14.1 of a first cutout 15.1 in the first tab 2.1, which is designed to roll an outer shell wall 16 ( Fig. 9) of a cam 17 of the manual lever 5, as specifically shown in Fig. 9 and Fig. 10 is shown.

[0069] The first inner casing wall 14.1 of the first cutout 15.1 in the first tab 2.1 is designed to follow the cam 17 of the manual lever 5 when the manual lever 5 is inserted with its cam 17 into the first cutout 15.1, wherein in a state in which the manual lever 5 is inserted into the first cutout 15.1, an axle bolt 18 extending axially away from the cam 17 ( Fig. 10) engages in a corresponding first bolt receptacle in the frame part 4a of a vehicle 4, such that by pivoting the manual lever 5 about an axis of rotation passing through the axle bolt 18, the cam 17 of the manual lever 5 is eccentrically adjustable and by rolling the outer casing wall 16 of the cam 17 on the first inner casing wall 14.1 of the first cutout 10.1, the first tab 2.1 can be reoriented about the first axis of rotation D1 of the first pivot bearing 6.1.

[0070] In the case of the present embodiment, the first cutout 15.1 is formed by an opening in the first tab that is separate from the first elongated hole 7.1 of the first tab 2.1 of the angle connector 2a.

[0071] In the illustrated embodiment, two differently designed levers 5 are used. Each of these manual levers 5 is manufactured as a separate hand tool from the sensor holder 2 and is designed for temporary, releasable pivotal mounting on the sensor holder 2.

[0072] In the Fig. 1 shows a vehicle 4 which has a frame part 4a and a sensor 1, wherein the sensor 1 is fastened to the frame part 4a of the vehicle 4 by means of a sensor holder 2 according to one of the described embodiments.

[0073] The vehicles 4 equipped with a sensor holder 2 according to the invention can, in particular, be autonomous vehicles, as shown. The autonomous vehicle 4 can be an omnidirectionally movable vehicle 4. It can be configured to transport workpieces or other loads. The vehicle 4 can also form a mobile platform for locally moving a robot arm 19.

[0074] Accordingly, the sensor 1 can, for example, be a sensor 1 for controlling and navigating the autonomous vehicle 4. Thus, the sensor 1 can, in particular, be a radar sensor or a laser sensor, in particular a LIDAR sensor 1a. This can detect the surroundings of the vehicle 4 and, with the aid of such detection, can be used for object detection, in particular for obstacle detection.

Claims

[1] Sensor holder for attaching a sensor (1) to a vehicle (4), comprising: - an angle connector (2a) with at least one first tab (2.1) extending in a first plane and at least one second tab (2.2) extending in a second plane orthogonal to the first plane of the first tab (2.1), wherein - the first bracket (2.1) has a first pivot bearing (6.1) which is rotatable about a first axis of rotation (D1) and is designed for the direct mounting of the angle connector (2a) on a frame part (4a) of a vehicle (4), and has at least one first elongated hole (7.1) via which the angle connector (2a) is to be fastened in a rotationally fixed manner to the frame part (4a) of the vehicle (4) by means of a first fastening means (8.1) projecting through the first elongated hole (7.1), and - the second tab (2.2) has a second pivot bearing (6.2) which is rotatable about a second axis of rotation (D2) and is designed for the direct mounting of a sensor housing (9) of a sensor (1) on the angle connector (2a), and has at least one second elongated hole (7.2), via which the sensor housing (9) of the sensor (1) is to be fastened to the angle connector (2a) in a rotationally fixed manner by means of a second fastening means (8.2) projecting through the second elongated hole (7.2), and wherein - the first tab (2.1) additionally has a first articulation point (10.1) for the pivotable reception of a manual lever (5) about a third axis of rotation (D3) aligned parallel to the first axis of rotation (D1), and the second tab (2.2) additionally has a second articulation point (10.2) for the pivotable reception of a manual lever (5) about a fourth axis of rotation (D4) aligned parallel to the second axis of rotation (D2). [2] Sensor holder according to claim 1, characterized bythat the first articulation point (10.1) is formed by a first bore in the first bracket (2.1), which is designed to insert a projecting axle pin of a manual lever (5) and / or the second articulation point (10.2) is formed by a second bore in the second bracket (2.2), which is designed to insert a projecting axle pin (11) of a manual lever (5). [3] Sensor holder according to claim 2, characterized byin that the first tab (2.1) has a first recess which is designed to guide a first steering pin connected to the frame part (4a) of a vehicle (4) or to a sensor housing (9) of a sensor (1), such that when the sensor holder (2) is mounted on the frame part (4a) of the vehicle (4) or the sensor housing (9) of the sensor (1), the first steering pin projects through the sensor holder (2) in such a way that a manual lever (5) attached to the first articulation point engages around the projecting first steering pin from two opposite sides with a fork-shaped end section of the manual lever (5). [4] Sensor holder according to claim 2, characterized byin that the second tab (2.2) has a second recess (12.2) which is designed to pass through a second steering pin (13.2) connected to the frame part (4a) of a vehicle (4) or to a sensor housing (9) of a sensor (1), such that when the sensor holder (2) is mounted on the frame part (4a) of the vehicle (4) or the sensor housing (9) of the sensor (1), the second steering pin (13.2) projects through the sensor holder (2) in such a way that a manual lever (5) attached to the second articulation point (10.2) engages around the projecting second steering pin (13.2) from two opposite sides with a fork-shaped end section of the manual lever (5). [5] Sensor holder according to claim 3 or 4, characterized bythat the first recess is formed by the first elongated hole (7.1) of the first tab (2.1) of the angle connector (2a) and the first steering pin is formed by the first fastening means (8.1) and / or the second recess (12.2) is formed by the second elongated hole (7.2) of the second tab (2.2) of the angle connector (2a) and the second steering pin (13.2) is formed by the second fastening means (8.2). [6] Sensor holder according to one of claims 1 to 5, characterized by that the first articulation point (10.1) is formed by a first inner shell wall (14.1) of a first cutout (15.1) in the first tab (2.1), which is designed to roll over an outer shell wall (16) of a cam (17) of a manual lever (5) and / or the second articulation point (10.2) is formed by a second inner shell wall of a second cutout in the second tab (2.2), which is designed to roll over an outer shell wall (16) of a cam (17) of a manual lever (5). [7] Sensor holder according to claim 6, characterized bythat the first inner casing wall (14.1) of the first cutout (15.1) is formed in the first tab (2.1) for following the cam (17) of the manual lever (5) when the manual lever (5) is inserted with its cam (17) into the first cutout (15.1), wherein in a state in which the manual lever (5) is inserted into the first cutout (15.1), an axle bolt (18) extending axially away from the cam (17) engages in a corresponding first bolt receptacle in the frame part (4a) of a vehicle (4) or in a sensor housing (9) of a sensor (1), such that by pivoting the manual lever (5) about a rotational axis passing through the axle bolt (18), the cam (17) of the manual lever (5) is eccentrically adjustable and by rolling the outer casing wall (16) of the cam (17) on the first inner shell wall (14.1) of the first cutout (15.1) the first tab (2.1) can be reoriented around the first axis of rotation (D1) of the first pivot bearing (6.1). [8] Sensor holder according to claim 6, characterized bythat the second inner casing wall of the second cutout is formed in the second tab (2.2) for following the cam (17) of the manual lever (5) when the manual lever (5) is inserted with its cam (17) into the second cutout, wherein in a state of the manual lever (5) inserted into the second cutout, an axle bolt (18) extending axially away from the cam (17) engages in a corresponding second bolt receptacle in the frame part (4a) of a vehicle (4) or in a sensor housing (9) of a sensor (1), such that by pivoting the manual lever (5) about an axis of rotation of the cam (17) of the manual lever (5) passing through the axle bolt, it is eccentrically adjustable and by rolling the outer casing wall (16) of the cam (17) on the second inner casing wall of the second cutout, the second tab (2.2) is rotated about the second Rotation axis (D2) of the second pivot bearing (6.2) can be reoriented. [9] Sensor holder according to claim 7 or 8, characterized by that the first cutout (15.1) is formed by an opening in the first tab (2.1) that is separate from the first elongated hole (7.1) of the first tab (2.1) of the angle connector (2a) and / or the second cutout is formed by an opening in the second tab (2.2) that is separate from the second elongated hole (7.2) of the second tab (2.2) of the angle connector (2a). [10] Sensor holder according to one of claims 1 to 9, characterized by that at least one manual lever (5) is pivotally mounted on the sensor holder (2) in a non-detachable manner. [11] Sensor holder according to one of claims 1 to 9, characterized by that at least one manual lever (5) is manufactured as a hand tool separate from the sensor holder (2) and is designed for temporary, releasable pivotal mounting on the sensor holder (2). [12] Vehicle comprising a frame part (4a) and a sensor (1), characterized bythat the sensor (1) is fastened to the frame part (4a) of the vehicle (4) by means of a sensor holder (2) according to one of claims 1 to 11.

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