CN110803114A - Sensor fuses perception system's fixing device - Google Patents
Sensor fuses perception system's fixing device Download PDFInfo
- Publication number
- CN110803114A CN110803114A CN201910888167.9A CN201910888167A CN110803114A CN 110803114 A CN110803114 A CN 110803114A CN 201910888167 A CN201910888167 A CN 201910888167A CN 110803114 A CN110803114 A CN 110803114A
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- China
- Prior art keywords
- adjusting
- bracket
- piece
- component
- assembly
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
Abstract
The invention discloses a fixing device of a sensor fusion sensing system, which comprises a bracket component and a fixing component, wherein the bracket component is used for mounting a sensor, and the sensor comprises a radar; the fixing assemblies are arranged on the two opposite sides of the bracket assembly and are used for realizing the fixed installation of the bracket assembly; the fixing component comprises a latch hook component, an adjusting component and a damping component, wherein the adjusting component comprises an adjusting bracket, a rotating shaft component, an adjusting block, an adjusting screw rod and a door pin; the locking hook piece is connected with the rotating shaft piece through an adjusting screw rod, and the locking hook piece and the rotating shaft piece are both in threaded connection with the adjusting screw rod; the adjusting bracket is connected with the bracket component, and the damping piece is arranged on one side of the lower end of the adjusting bracket; the adjusting support is provided with an adjusting hole, the adjusting block is installed in the adjusting hole, the rotating shaft part is connected with the adjusting block and fixed on the adjusting support through a door pin, and therefore the relative adjustment of the connecting position of the locking hook part and the adjusting support is achieved.
Description
Technical Field
The invention relates to the technical field of sensor induction, in particular to a fixing device for a sensor fusion sensing system.
Background
With the continuous progress of the technology, the fully automatic automobile is developed towards the safe and reliable direction when running on the road. The unmanned vehicle is able to recognize the environment, take into account various factors, and make appropriate decisions based on these factors to safely and accurately reach the intended destination.
When a vehicle is typically traveling on a road, encountering other vehicles, pedestrians, or other objects, the autonomous driving system can identify these objects in the vehicle's environment and take appropriate and timely action to avoid a collision. In addition, the autopilot system may also recognize other indicators that control the movement of the vehicle, such as traffic signals, traffic signs, and lane markings (e.g., when the vehicle must stop, when it can travel, how much the vehicle speed must not exceed, where the vehicle must stop on the road, etc.), the autopilot system may need to determine when the vehicle should change lanes, turn at an intersection, change lanes, etc.
Therefore, in order to provide an autonomous vehicle capable of safely and accurately navigating, many problems need to be solved. The data acquired by the single sensor can not meet the requirement, the multiple sensors are fused to have more advantages than the single sensor, the advantages of the sensors can be fully exerted to make up the disadvantages of the other side, the reliability and the anti-interference performance are higher, and the method becomes a mutually independent and mutually complementary detection means. However, to achieve the accuracy and reliability of the acquired data, it is necessary to base the data acquired under the condition that these multiple sensors can work normally and have low interference.
Therefore, a fixing device with multiple sensors integrated is needed to be designed, so that the sensors can normally work under various climatic conditions and operating environments, the purpose of meeting various requirements is achieved, and the device can be applied to the fields of unmanned automobiles, water vehicles and the like.
Disclosure of Invention
The invention mainly aims to provide a fixing device of a sensor fusion sensing system, aiming at realizing the reliable installation of a plurality of sensors so as to accurately acquire sensing data in a relatively complex environment.
In order to achieve the above object, the present invention provides a fixing device for a sensor fusion sensing system, comprising:
the sensor comprises a bracket component and a fixing component, wherein the bracket component is used for mounting a sensor, and the sensor comprises a radar;
the fixing assemblies are arranged on two opposite sides of the bracket assembly and are used for realizing the fixed installation of the bracket assembly;
the fixing assembly comprises a latch hook member, an adjusting assembly and a damping member, wherein the adjusting assembly comprises an adjusting bracket, a rotating shaft member, an adjusting block, an adjusting screw and a door pin;
the locking hook piece is connected with the rotating shaft piece through the adjusting screw rod, and the locking hook piece and the rotating shaft piece are both in threaded connection with the adjusting screw rod;
the adjusting bracket is connected with the bracket component, and the damping piece is arranged on one side of the lower end of the adjusting bracket;
the adjusting support is provided with an adjusting hole, the adjusting block is installed in the adjusting hole, the rotating shaft piece is connected with the adjusting block and fixed on the adjusting support through the door pin, and therefore the relative adjustment of the connecting position of the locking hook piece and the adjusting support is achieved.
Preferably, the latch hook member comprises a fixing portion, a connecting portion and a latch hook portion, wherein the connecting portion connects the fixing portion and the latch hook portion; the fixing part is provided with a threaded hole, and the adjusting screw rod is in threaded connection with the rotating shaft piece through the threaded hole.
Preferably, the bracket assembly comprises a bracket and a connecting assembly;
the connecting assembly is fixedly connected with the support assembly, and the fixing assembly is fixedly connected with the connecting assembly.
Preferably, the bracket comprises a first mounting part and a second mounting part, and the first mounting part is arranged at two opposite sides of the second mounting part;
the first installation part is provided with a first window, the second installation part is provided with a second window, and the first window and the second window are provided with optical lenses.
Preferably, the second mounting portion is provided with four mounting surfaces, and each mounting surface is provided with at least one second window.
Preferably, the connecting assembly comprises a first connecting piece and a second connecting piece, wherein the first connecting piece is arranged on two opposite sides of the second connecting piece and forms detachable connection and matching with the second connecting piece;
the fixing component is fixedly connected with the first connecting piece.
Preferably, a first accommodating cavity is formed in the first mounting portion, and the first connecting piece is accommodated in the first accommodating cavity and attached to the avoiding surface of the first accommodating cavity;
the second installation part is provided with a second containing cavity, and the second connecting piece is contained in the second containing cavity.
Preferably, the first connecting piece is provided with a first clamping part, and the second connecting piece is provided with a first limiting part;
the first clamping portion is clamped with the first limiting portion to achieve detachable connection of the first connecting piece and the second connecting piece.
Preferably, first joint portion is recess or arch, first spacing portion for with first joint portion joint complex arch or recess.
Preferably, the second connecting piece and the second installation part are provided with a first limiting part on one side in a matched mode, a second limiting part is arranged in the second installation part, and the first limiting part and the second limiting part are in limiting matched mode.
Compared with the prior art, the fixing device of the sensor fusion sensing system, provided by the invention, has the advantages that the adjusting block is fixed on the adjusting bracket through the door pin, and the locking hook piece is roughly adjusted to a proper position through the adjusting block, so that the locking hook piece can be firmly clamped and hooked on the top of a vehicle. After finishing preliminary coarse adjustment, thereby the adjustment adjusting screw of rethread makes latch hook spare can further fine setting, realizes firmly being connected with the vehicle top.
Further, through set up the damper in fixed subassembly lower extreme one side, utilize the damper to make fixed subassembly have the shock attenuation effect to make and install in the sensor of bracket component can more reliable work.
Drawings
Fig. 1 is a schematic perspective view of a fixing device of a sensor fusion sensing system according to the present invention;
FIG. 2 is a schematic diagram of an explosion structure of a fixing device of the sensor fusion sensing system provided by the invention matched with a radar;
fig. 3 is an exploded view of a fixing component of a fixing device of the sensor fusion sensing system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 3, the present invention provides a fixing device 100 for a sensor fusion sensing system, the fixing device 100 for a sensor fusion sensing system includes a bracket assembly 30 and a fixing assembly 40, the bracket assembly 30 is used for mounting a sensor, the sensor includes a radar, wherein the radar may be at least any one of a photoelectric imaging radar, a radio frequency radar and a microwave radar, and the sensor further includes at least any one of an infrared sensor, a speed sensor, a gas sensor, a temperature and humidity sensor, a displacement sensor or a camera.
The bracket assembly 30 comprises a bracket 10 and a connecting assembly 20; the connecting assembly 20 is fixedly connected with the bracket assembly 30, and the fixing assembly 40 is fixedly connected with the connecting assembly 20.
Specifically, the bracket 10 includes a first mounting portion 101 and a second mounting portion 102, the first mounting portion 101 being disposed on opposite sides of the second mounting portion 102; the first mounting portion 101 is provided with a first window 1011, the second mounting portion 102 is provided with a second window 1021, and optical lenses (not shown) are disposed at the first window 1011 and the second window 1021. After installing radar and infrared sensor, speed sensor, gas sensor, temperature and humidity sensor, displacement sensor or other sensors such as camera in support 10 corresponding first window 1011 and second window 1021, through the transmission of first window 1011 and second window 1021 with the sensing signal of radar and other sensors, thereby make signal transmission performance more excellent, except can having the filtering action through setting up optical lens, can also effectively protect radar and other sensors that correspond the setting in first window 1011 and second window 1021.
As shown in fig. 2, the radar a is mounted on the upper end mounting plane of the second mounting portion 102.
Preferably, the second mounting portion 102 is provided with four mounting surfaces, each of which is provided with at least one second window 1021, so that the second mounting portion 102 can simultaneously mount a plurality of radar and other sensors, thereby fully utilizing the available space resources of the bracket 10.
The connecting assembly 20 includes a first connecting member 201 and a second connecting member 202, wherein the first connecting member 201 is disposed on two opposite sides of the second connecting member 202 and detachably connected and matched with the second connecting member 202; the fixing assembly 40 is fixedly connected with the first connecting member 201, and is matched with the detachable connection of the first connecting member 201 and the second connecting member 202, so that the replacement or maintenance of the sensor or the radar installed in the bracket 10 is facilitated.
Preferably, the first mounting portion 101 is formed with a first accommodating cavity, and the first connecting member 201 is accommodated in the first accommodating cavity and attached to the avoiding surface of the first accommodating cavity; the second mounting portion 102 is formed with a second accommodating cavity, the second connecting member 202 is accommodated in the second accommodating cavity, and the first accommodating cavity and the second accommodating cavity are utilized to correspondingly accommodate the first connecting member 201 and the second connecting member 202, so that the connection between the connecting assembly 20 and the bracket 10 is firmer, and errors caused by vibration of radars and other sensors are reduced.
It is understood that the first mounting portion 101 and the second mounting portion 102 of the bracket 10 may be integrally formed, or may be fixedly connected by welding or splicing.
Preferably, the two first mounting portions 101 are symmetrically disposed on two opposite sides of the second mounting portion 102.
It can be understood that the first connecting member 201 and the second connecting member 202 can be detachably connected in a manner that the first connecting member 201 is provided with a first clamping portion 2011, and the second connecting member 202 is provided with a first limiting portion 2021; the first clamping portion 2011 is clamped with the first limiting portion 2021, so that detachable connection between the first connecting piece 201 and the second connecting piece 202 is achieved. Wherein, first joint portion 2011 can be recess or protruding, first spacing portion 2021 be with first joint portion 2011 joint complex protruding or recess.
In some embodiments, a first limiting member 2022 is disposed on a side of the second connecting member 202 engaged with the second mounting portion 102, a second limiting member (not shown) is disposed in the second mounting portion 102, and the first limiting member 2022 and the second limiting member form a limiting engagement. The first limiting element 2022 may be a limiting groove or a protrusion, and the second limiting element is a protrusion or a groove that forms a limiting fit with the first limiting element 2022.
The fixing assemblies 40 are disposed on opposite sides of the bracket assembly 30 for fixedly mounting the bracket assembly 30, that is, the bracket assembly 30 can be mounted on other devices or apparatuses through the fixing assemblies 40, so that radar and other sensors mounted on the bracket assembly 30 can be mounted on other devices or apparatuses. In the present embodiment, the other device or equipment is a vehicle, but the other device or equipment is not limited to only a vehicle.
As shown in fig. 2-3, the fixing assembly 40 comprises a latch member 401, an adjusting assembly 402, and a shock absorber 403, wherein the adjusting assembly 402 comprises an adjusting bracket 4021, a rotating shaft member 4022, an adjusting block 4023, an adjusting screw 4024, and a gate pin 4025. Wherein, locking hook piece 401 is connected with pivot piece 4022 through adjusting screw 4024, and locking hook piece 401 and pivot piece 4022 all with adjusting screw 4024 threaded connection, thereby can realize locking hook piece 401's fine setting through rotatory adjusting screw 4024, make locking hook piece 401 can more firmly install in the vehicle.
Specifically, the locking hook 401 includes a fixing portion 4011, a connection portion 4012 and a locking hook portion 4013, wherein the connection portion 4012 connects the fixing portion 4011 and the locking hook portion 4013; the fixing portion 4011 is provided with a threaded hole, and the adjusting screw 4024 is in threaded connection with the rotating shaft member 4022 through the threaded hole.
The adjusting bracket 4021 is connected to the bracket assembly 30, and the shock absorber 403 is disposed at the lower end of the adjusting bracket 4021, i.e., the shock absorber 403 is disposed at the side of the adjusting bracket 4021 away from the bracket assembly 10. The adjusting bracket 4021 is provided with an adjusting hole 4026, an adjusting block 4023 is installed in the adjusting hole 4026, and the rotating shaft member 4022 is connected with the adjusting block 4023 and fixed to the adjusting bracket 4021 through a door pin 4025, so as to realize the relative adjustment of the connection position of the locking hook member 401 and the adjusting bracket 4021.
In the process of installing the fixing device 100 of the sensor fusion sensing system on the top of a vehicle, the adjusting block 4023 is fixed to the adjusting bracket 4021 by the door pin 4025, and the latch hook member 401 is roughly adjusted to a proper position by the adjusting block 4023, so that the latch hook member 401 can be firmly hooked on the top of the vehicle.
After the preliminary coarse adjustment is completed, the adjusting screw 4024 is adjusted to further fine adjust the latch hook member 401, so as to achieve a firm connection with the roof of the vehicle.
Further, the shock absorbing member 403 has a shock absorbing effect by the shock absorbing member 403 provided at one side of the fixing member 40, so that radar and other sensors mounted to the bracket assembly 10 can operate more reliably. Compared with the prior art, the fixing device of the sensor fusion sensing system, provided by the invention, has the advantages that the adjusting block is fixed on the adjusting bracket through the door pin, and the locking hook piece is roughly adjusted to a proper position through the adjusting block, so that the locking hook piece can be firmly clamped and hooked on the top of a vehicle. After finishing preliminary coarse adjustment, thereby the adjustment adjusting screw of rethread makes latch hook spare can further fine setting, realizes firmly being connected with the vehicle top.
Further, through set up the damping piece in fixed subassembly lower extreme one side, utilize the damping piece to make fixed subassembly have more excellent shock attenuation effect to make the radar and other sensors of installing in the bracket component can more reliable work.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A sensor fusion sensing system fixture, comprising:
the sensor comprises a bracket component and a fixing component, wherein the bracket component is used for mounting a sensor, and the sensor comprises a radar;
the fixing assemblies are arranged on two opposite sides of the bracket assembly and are used for realizing the fixed installation of the bracket assembly;
the fixing assembly comprises a latch hook member, an adjusting assembly and a damping member, wherein the adjusting assembly comprises an adjusting bracket, a rotating shaft member, an adjusting block, an adjusting screw and a door pin;
the locking hook piece is connected with the rotating shaft piece through the adjusting screw rod, and the locking hook piece and the rotating shaft piece are both in threaded connection with the adjusting screw rod;
the adjusting bracket is connected with the bracket component, and the damping piece is arranged on one side of the lower end of the adjusting bracket;
the adjusting support is provided with an adjusting hole, the adjusting block is installed in the adjusting hole, the rotating shaft piece is connected with the adjusting block and fixed on the adjusting support through the door pin, and therefore the relative adjustment of the connecting position of the locking hook piece and the adjusting support is achieved.
2. The sensor fusion perception system fixation device of claim 1, wherein: the latch hook piece comprises a fixing part, a connecting part and a latch hook part, wherein the connecting part is connected with the fixing part and the latch hook part; the fixing part is provided with a threaded hole, and the adjusting screw rod is in threaded connection with the rotating shaft piece through the threaded hole.
3. The sensor fusion perception system fixation device of claim 1, wherein:
the bracket component comprises a bracket and a connecting component;
the connecting assembly is fixedly connected with the support assembly, and the fixing assembly is fixedly connected with the connecting assembly.
4. The sensor fusion perception system fixation device of claim 3, wherein:
the bracket comprises a first mounting part and a second mounting part, and the first mounting part is arranged on two opposite sides of the second mounting part;
the first installation part is provided with a first window, the second installation part is provided with a second window, and the first window and the second window are provided with optical lenses.
5. The sensor fusion perception system fixation device of claim 4, wherein:
the second installation portion is provided with four installation surfaces, and each installation surface is provided with at least one second window.
6. The sensor fusion perception system fixation device of claim 4, wherein:
the connecting assembly comprises a first connecting piece and a second connecting piece, wherein the first connecting piece is arranged on two opposite sides of the second connecting piece and forms detachable connection and matching with the second connecting piece;
the fixing component is fixedly connected with the first connecting piece.
7. The sensor fusion perception system fixation device of claim 6, wherein:
a first accommodating cavity is formed in the first mounting part, and the first connecting piece is accommodated in the first accommodating cavity and attached to the avoiding surface of the first accommodating cavity;
the second installation part is provided with a second containing cavity, and the second connecting piece is contained in the second containing cavity.
8. The sensor fusion sensing system of claim 7, wherein:
the first connecting piece is provided with a first clamping part, and the second connecting piece is provided with a first limiting part;
the first clamping portion is clamped with the first limiting portion to achieve detachable connection of the first connecting piece and the second connecting piece.
9. The sensor fusion sensing system of claim 8, wherein:
first joint portion is recess or arch, first spacing portion for with first joint portion joint complex arch or recess.
10. The sensor fusion perception system fixation device of claim 6, wherein:
the second connecting piece with second installation department cooperation one side is provided with first locating part, be provided with the second locating part in the second installation department, first locating part with the spacing cooperation of second locating part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910888167.9A CN110803114B (en) | 2019-09-19 | 2019-09-19 | Fixing device of sensor fusion sensing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910888167.9A CN110803114B (en) | 2019-09-19 | 2019-09-19 | Fixing device of sensor fusion sensing system |
Publications (2)
| Publication Number | Publication Date |
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| CN110803114A true CN110803114A (en) | 2020-02-18 |
| CN110803114B CN110803114B (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910888167.9A Active CN110803114B (en) | 2019-09-19 | 2019-09-19 | Fixing device of sensor fusion sensing system |
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| CN103411637A (en) * | 2013-07-24 | 2013-11-27 | 南通神华电气有限公司 | Automatic dust and pollution prevention device of optical window |
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| CN105270266A (en) * | 2014-07-17 | 2016-01-27 | 现代自动车株式会社 | Integrated inside mirror assembly of vehicle |
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| CN108664029A (en) * | 2018-05-22 | 2018-10-16 | 芜湖乐知智能科技有限公司 | A kind of unpiloted intelligent automobile and its control method |
| CN109188396A (en) * | 2018-07-20 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | A kind of fixation device of laser radar sensory perceptual system |
| US20190077333A1 (en) * | 2017-03-31 | 2019-03-14 | Komatsu Ltd. | Work vehicle |
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2019
- 2019-09-19 CN CN201910888167.9A patent/CN110803114B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103411637A (en) * | 2013-07-24 | 2013-11-27 | 南通神华电气有限公司 | Automatic dust and pollution prevention device of optical window |
| CN105270266A (en) * | 2014-07-17 | 2016-01-27 | 现代自动车株式会社 | Integrated inside mirror assembly of vehicle |
| CN104401266A (en) * | 2014-11-20 | 2015-03-11 | 力帆实业(集团)股份有限公司 | Mounting structure for mounting vehicle-mounted computer on cross beam |
| CN205604892U (en) * | 2016-03-18 | 2016-09-28 | 广州广电运通金融电子股份有限公司 | Lock hook strip detects hold concurrently adjustment mechanism and self -service financial equipment |
| US20190077333A1 (en) * | 2017-03-31 | 2019-03-14 | Komatsu Ltd. | Work vehicle |
| CN108664029A (en) * | 2018-05-22 | 2018-10-16 | 芜湖乐知智能科技有限公司 | A kind of unpiloted intelligent automobile and its control method |
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| Publication number | Publication date |
|---|---|
| CN110803114B (en) | 2023-04-25 |
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