CN111469776A - Unmanned vehicle sensor integrated device - Google Patents
Unmanned vehicle sensor integrated device Download PDFInfo
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- CN111469776A CN111469776A CN202010502717.1A CN202010502717A CN111469776A CN 111469776 A CN111469776 A CN 111469776A CN 202010502717 A CN202010502717 A CN 202010502717A CN 111469776 A CN111469776 A CN 111469776A
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- 239000000758 substrate Substances 0.000 claims description 27
- 238000009434 installation Methods 0.000 abstract description 9
- 230000010354 integration Effects 0.000 abstract description 4
- 239000004258 Ethoxyquin Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000000465 moulding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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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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- 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
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Abstract
The application discloses unmanned vehicle sensor integrated device relates to unmanned car, unmanned driving or autopilot technical field. The unmanned vehicle sensor integrated device comprises a cylinder seat, an intermediate body, a first sensor and a second sensor; the intermediate body is arranged in the cylinder seat and connected with the cylinder seat, and the intermediate body and the cylinder seat are coaxially arranged; the first sensor and a plurality of second sensors are mounted to the intermediate body, the plurality of second sensors being arranged in an array around the first sensor. The unmanned vehicle sensor integration device can reduce the complexity of sensor assembly, improve the relative position precision among the sensors, and improve the universality and expansibility of sensor installation.
Description
Technical Field
The application relates to the technical field of unmanned vehicles, unmanned driving or automatic driving, in particular to an unmanned vehicle sensor integration device.
Background
The automatic driving perception needs a plurality of sensors to be fused, the sensors comprise sensors such as laser radars and cameras, the sensors are dispersedly installed at all positions of a vehicle body, the relative positions and theoretical design deviation of all the sensors are too large due to various errors, and the difficulty of sensor calibration and the deviation of perception positions are increased.
Disclosure of Invention
The application provides an unmanned vehicle sensor integrated device can reduce the complexity of sensor assembly, promotes the relative position precision between each sensor, improves sensor installation's commonality and expansibility.
The application provides an unmanned vehicle sensor integration device which comprises a cylinder seat, an intermediate body, a first sensor and a second sensor; the intermediate body is arranged in the cylinder seat and connected with the cylinder seat, and the intermediate body and the cylinder seat are coaxially arranged; the first sensor and a plurality of second sensors are mounted to the intermediate body, the plurality of second sensors being arranged in an array around the first sensor.
Above-mentioned technical scheme, first sensor and a plurality of second sensor are all installed integratedly on the midbody, have not only reduced assembly process and time, need not to make a plurality of supports that are used for installing the sensor in addition and go to match the automobile body molding for the commonality and the expansibility of sensor obtain the reinforcing, can deal with the iteration of new sensor scheme fast. The midbody sets up with the coaxial cooperation of bobbin base, can improve follow-up different sensor mounted position's cooperation precision to a plurality of second sensors are the array setting around first sensor, can be convenient for walk the line overall arrangement of cable, and make the relative position error between second sensor and the first sensor obtain maximum reduction, thereby promote different sensor complex locate function and recognition function's precision.
In a first possible implementation of the present application, the first sensor is located outside the cartridge holder and the second sensor is located inside the cartridge holder.
According to the technical scheme, the first sensor is positioned outside the cylinder seat and can be a laser radar; the second sensor is located the cylinder base, can be the camera, sets up inside and outside the cylinder base respectively, can protect the second sensor during operation to avoid external environment (for example rainwater) to influence to promote holistic integrated level, it is very little to unmanned car sensor integrated device's whole molding influence when changing the model and the size of second sensor, can match more, more nimble sensor configuration scheme, make the aesthetic property better.
With reference to the first possible implementation manner of the present application, in a second possible implementation manner of the present application, the cartridge holder includes a cartridge body and a cartridge cover; the inner wall of the cylinder body is provided with a connecting step, and the intermediate body is detachably connected with the connecting step; the cover is detachably connected to the barrel.
Above-mentioned technical scheme, the midbody imbeds in the barrel to detachably installs on connecting the step, easily loading and unloading. The second sensor located within the cartridge body is protected by the cartridge cover.
With reference to the second possible implementation manner of the present application, in a third possible implementation manner of the present application, the cylinder cover is provided with a first opening for exposing the first sensor; the lateral wall of barrel is seted up and is used for installing the second trompil of transparent protection piece, and a plurality of second trompils and a plurality of second sensor one-to-one ground array are arranged.
Above-mentioned technical scheme, the cover can make first sensor expose through first trompil, the loading and unloading of being convenient for. For the second sensor that is located the barrel, through set up on the lateral wall of barrel with a plurality of second trompils of a plurality of second sensor one-to-one for but transparent protection piece embeddable mount has guaranteed that the use of second sensor can normally go on in the second trompil.
With reference to the second possible implementation manner of the present application, in a fourth possible implementation manner of the present application, the intermediate body includes a substrate and a mounting table; the base plate is detachably connected with the connecting step; the mounting table is convexly arranged at the center of the substrate, and the first sensor is detachably connected to the mounting table; a plurality of second sensors are mounted to the substrate in an array around the mounting stage.
Above-mentioned technical scheme, because midbody and bobbin holder set up for coaxial cooperation, after the protruding mount table of establishing in the center of base plate, first sensor is installed on the mount table, again with a plurality of second sensors be array installation in the base plate around the mount table, can guarantee the mounted position of first sensor and the axiality of the mounted position of a plurality of second sensors, thereby reduce the relative position error between each sensor, make each sensor at the during operation, can greatly shorten the time of demarcation work and the demand in demarcation place.
With reference to the fourth possible implementation manner of the present application, in a fifth possible implementation manner of the present application, the substrate is provided with a plurality of wire through holes in an array around the mounting table.
Above-mentioned technical scheme is the array around the mount table on the base plate and is provided with a plurality of line holes of crossing for every second sensor homoenergetic carries out the cable wiring through a line hole of crossing, and the cable is more concentrated, guarantees the simple of whole cable overall arrangement, reduces the signal interference with unmanned car automobile body.
With reference to the fourth possible implementation manner of the present application, in a sixth possible implementation manner of the present application, the unmanned vehicle sensor integrated apparatus further includes a plurality of connection frames; the plurality of connecting frames correspond to the plurality of second sensors one by one, and each second sensor is installed on the intermediate body through the corresponding connecting frame.
Above-mentioned technical scheme, the second sensor passes through the link to be connected on the midbody for it is more convenient to install.
With reference to the sixth possible implementation manner of the present application, in a seventh possible implementation manner of the present application, the substrate is provided with a plurality of connection holes around the mounting stage array; the connecting frame is detachably connected to the connecting hole.
Above-mentioned technical scheme, the link is connected and is installed on the base plate through with the connecting hole, and it is more convenient to install. The number of the second sensors can be flexibly changed according to design requirements, and only the number and the installation positions of the connecting frames need to be changed.
With reference to the seventh possible implementation manner of the present application, in an eighth possible implementation manner of the present application, the connecting frame is provided with an arc-shaped mounting hole, and the arc-shaped mounting hole is connected with the connecting hole in a matching manner.
Above-mentioned technical scheme, because a plurality of connecting holes set up on the base plate around the mount table array, when the mount table adopted circular design, the line of a plurality of connecting holes was circular, and the link passes through the arc mounting hole and is connected with the connecting hole for the range of a plurality of links is circular equally, in order to reduce a plurality of second sensor mounted position's relative error.
With reference to the fourth possible implementation manner of the present application, in a ninth possible implementation manner of the present application, the inner edge end of the connection step is circular, and the outer edge end of the connection step is a regular polygon; the outer edge end of the substrate is a regular polygon matched with the outer edge end of the connecting step.
Above-mentioned technical scheme, because the mounting point (for example the cooperation of screw hole) of connecting step and base plate is fixed, when the outer fringe end of base plate and the outer fringe end of being connected the step are the regular polygon that can cooperate, can be fast with the base plate with be connected the step and align in the position that can install to improve the dismouting efficiency of midbody and barrel.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic structural diagram of an unmanned vehicle sensor integrated unit in an alternative embodiment of the present application;
FIG. 2 is a schematic view of an alternative embodiment of the present application showing the configuration of an unmanned vehicle sensor integrated unit with the cover removed;
FIG. 3 is a schematic view of the structure of a cartridge in an alternative embodiment of the present application;
FIG. 4 is a schematic structural diagram of an intermediate in an alternative embodiment of the present application;
FIG. 5 is a schematic view of an alternate embodiment of the present application showing the intermediate body after installation of a second sensor;
FIG. 6 is a schematic view of an alternative embodiment of the present application showing the structure of a bridge from a first perspective;
FIG. 7 is a schematic view of an alternative embodiment of the present application showing the structure of the bridge from a second perspective;
FIG. 8 is a schematic view of the mating structure of the connection frame and the intermediate body in an alternative embodiment of the present application.
Icon: 10-unmanned vehicle sensor integrated device; 100-cylinder seat; 110-a cylinder; 112-connecting step; 1122-screw hole a; 114-a second opening; 116-screw hole B; 120-cartridge cover; 200-an intermediate; 210-a substrate; 212-screw hole C; 214-line through hole A; 216-connecting hole; 220-mounting table; 222-line passing hole B; 224-mounting posts; 226-line passing hole C; 300-a connecting frame; 310-a backplane; 312-arc mounting holes; 314-via hole D; 320-vertical plate; 322-chuckwall; 324-line passing hole E; 400-a first sensor; 500-a second sensor; 600-transparent shield.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is to be noted that the terms "inside", "below", and the like refer to orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally arranged when products of the application are used, and are used only for convenience in describing the application and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In this application, unless expressly stated or limited otherwise, the first feature may be directly on or under the second feature or may include both the first and second features being in direct contact, but also the first and second features being in contact via another feature between them, not being in direct contact. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
At present, most of laser radars and cameras are installed in a mode of distributing the periphery of a vehicle body, a plurality of supports are required to be manufactured to match the shape of the vehicle body, assembly workload is overlarge, related installation procedures are correspondingly increased, each sensor is required to be installed independently, and efficiency is low. The sensors are arranged around the vehicle body, so that cables are scattered, integral wiring is not facilitated, and complexity and difficulty of cable layout are increased; meanwhile, the relative position error, especially the angle error, among the sensors is too large, so that the remote sensing error is too large, and the work of the unmanned vehicle is influenced. In addition, the sensor distributed layout design needs corresponding hardware change to adapt to the original vehicle body model when the sensor model is replaced or increased, and has poor compatibility and high cost.
An embodiment of the present application provides an unmanned vehicle sensor integrated device 10, which is configured by coaxially and cooperatively connecting a middle body 200 and a cartridge holder 100, wherein the middle body 200 is used for integrally mounting a first sensor 400 and a plurality of second sensors 500, and the cartridge holder 100 is used for mounting on a top cover of an unmanned vehicle. Unmanned vehicle sensor integrated device 10 integrates the degree height, not only can reduce the process and the time of each sensor assembly, has saved other supports of preparation moreover and has matchd unmanned vehicle body molding for the commonality and the expansibility of sensor obtain the reinforcing, can deal with the iteration of new sensor scheme fast. Midbody 200 sets up with the coaxial cooperation of stack shell 100, and a plurality of second sensors 500 are the array setting around first sensor 400, can improve the cooperation precision of each sensor mounted position for relative position error between second sensor 500 and the first sensor 400 obtains furthest's reduction, the line overall arrangement of walking of the cable of being convenient for simultaneously.
Referring to fig. 1 to 4, fig. 1 shows a specific structure of an unmanned vehicle sensor integrated device 10 according to an alternative embodiment of the present application, fig. 2 shows an internal structure of the unmanned vehicle sensor integrated device 10 in fig. 1 with a cover 120 hidden, fig. 3 shows a specific structure of a cylinder 110 according to an alternative embodiment of the present application, and fig. 4 shows a specific structure of a middle body 200 according to an alternative embodiment of the present application.
The unmanned vehicle sensor integrated device 10 includes a cartridge 100, an intermediate body 200, a first sensor 400, a plurality of second sensors 500, and a plurality of connection frames 300 corresponding to the number of the second sensors 500. Where the first sensor 400 may be a lidar and the second sensor 500 may be a camera.
As shown in fig. 1, the cartridge 100 includes a cartridge body 110 and a cartridge cover 120.
With continued reference to fig. 2 and 3, the barrel 110 is cylindrical, and the inner edge of the upper end surface of the barrel 110 is a circular inscribed regular octagon (in some alternative embodiments, it may also be a circular inscribed regular hexagon, or other regular polygon). The barrel 110 is uniformly provided with a plurality of screw holes B116 on an upper end surface thereof, and the screw holes B116 are used for detachably mounting a barrel cover 120 (see fig. 1).
As shown in fig. 3, the inner wall of the cylinder 110 is formed with a connection step 112, an inner edge end of the connection step 112 is circular (i.e., fits the outline shape of the cylinder 110), an outer edge end of the connection step 112 is disposed corresponding to an inner edge end of the upper end face of the cylinder 110, and is also a circular inscribed regular octagon, and a chamfer is formed between two adjacent edges (i.e., inner corners). A plurality of screw holes a1122 are uniformly formed in the connecting step 112, and each screw hole a1122 is provided corresponding to each chamfer. Referring to fig. 4, the outer edge of the substrate 210 of the intermediate body 200 has the same shape as the outer edge of the connecting step 112, and a screw hole C212 is disposed at each inner corner of the substrate 210 to match with the screw hole a 1122. During installation, since the screw holes a1122 and the screw holes B116 are fixed and located at the inner corners of the regular octagon, after the substrate 210 is placed in the barrel 110, the substrate 210 can be quickly aligned with the connection steps 112 through the matching of the shapes of the regular octagon of the substrate and the regular octagon, and the alignment position can ensure that the screw holes a1122 correspond to the screw holes C212 and then are connected through screws, so that the assembly and disassembly efficiency of the intermediate body 200 and the barrel 110 is improved.
A space is left between the connecting step 112 and the upper end surface of the cylinder 110, and a plurality of second openings 114 arranged in an annular array are disposed on the inner wall of the cylinder 110 corresponding to the space, the plurality of second openings 114 are disposed corresponding to each side of the regular octagon of the connecting step 112, please refer to fig. 2, and the second openings 114 are used for inserting and installing the transparent protection member 600. The transparent protection member 600 may be transparent glass, and the plurality of transparent protection members 600 are disposed in one-to-one correspondence to the plurality of second sensors 500 to perform waterproof and perspective functions, thereby ensuring a normal working environment of the second sensors 500.
Referring to fig. 1 and 2 again, the cover 120 is provided with a first opening (not shown in the drawings) for exposing the first sensor 400, so that the first sensor 400 is located outside the cartridge holder 100, and the second sensor 500 is located inside the cartridge holder 100, so that the second sensor 500 can be protected from the external environment (such as rain) when working, the integral integration level of the unmanned vehicle sensor integrated device 10 is improved, the influence on the overall shape of the unmanned vehicle sensor integrated device 10 is small when the model and the size of the second sensor 500 are changed, more and more flexible configurations of the second sensor 500 can be matched, and the aesthetic property is better.
With continued reference to fig. 4, the intermediate body 200 includes a substrate 210 and a mounting stage 220.
The base plate 210 and the mounting platform 220 may be integrally formed, or may be detachably connected, such as by screwing. The mounting platform 220 is protruded from the central position of the base plate 210, and as shown in fig. 3, the base plate 210 is detachably connected to the connecting step 112 (see the above description) and is tightly fitted with the inner wall of the cylinder 110, so that the mounting platform 220 is located at the central position of the cylinder 110, thereby ensuring that the intermediate body 200 is coaxially fitted with the cylinder base 100 (see fig. 1) after being embedded in the cylinder 110.
In the embodiment of the present application, the mounting platform 220 is in a shape of a disk, and a wire passing hole B222 and two mounting posts 224 are disposed on a top surface of the disk-shaped structure, please refer to fig. 2, the mounting posts 224 are used for mounting a first sensor 400, and the first sensor 400 guides a cable into the barrel 110 through the wire passing hole B222. The portion between the mounting table 220 and the substrate 210 is cylindrical, and a plurality of wire through holes C226 are circumferentially arranged on the outer wall of the cylindrical structure at intervals. The substrate 210 is provided with a plurality of connection holes 216 in an inner annular array near the mounting stage 220, and the plurality of connection holes 216 are used for detachably connecting a plurality of connection frames 300 (see the following description for details). The substrate 210 is provided with via holes a214 in an annular array outside the plurality of connection holes 216. The substrate 210 is provided at the outermost side thereof with a plurality of screw holes C212, and the substrate 210 is detachably connected to the connection step 112 (see fig. 3) through the screw holes C212 (see the above description).
Because the midbody 200 sets up with the coaxial cooperation of mount 100, after base plate 210's center is protruding to be established the mount table 220, first sensor 400 is installed on mount table 220, again with a plurality of second sensors 500 be array installation in base plate 210 around mount table 220, can guarantee the mounted position of first sensor 400 and the axiality of the mounted position of a plurality of second sensors 500, thereby reduce the relative position error between each sensor, make each sensor during operation, can greatly shorten the time of demarcation work and the demand in demarcation place.
It should be noted that, when the mounting stage 220 is polygonal, such as square, the wire through holes a214 and the connection holes 216 on the substrate 210 are arranged in a square array matching the mounting stage 220.
With continuing reference to fig. 5-8, fig. 5 shows a specific structure of a plurality of second sensors 500 mounted on the middle body 200 according to an alternative embodiment of the present application, fig. 6 shows a specific structure of the connection frame 300 according to an alternative embodiment of the present application at a first viewing angle, fig. 7 shows a specific structure of the connection frame 300 according to an alternative embodiment of the present application at a second viewing angle, and fig. 8 shows a specific structure of the connection frame 300 according to an alternative embodiment of the present application in mating connection with the middle body 200.
As shown in fig. 5, 6 and 7, the link 300 includes a bottom plate 310 and a vertical plate 320. The vertical plate 320 is disposed in the middle of the bottom plate 310, and the vertical plate 320 and the bottom plate 310 are integrally formed or welded.
The bottom plate 310 is provided with an arc-shaped mounting hole 312 at a side opposite to the plate 320, and a side wall of the bottom plate 310 at a side near the arc-shaped mounting hole 312 has an arc shape corresponding to the mounting stage 220. Referring to fig. 4, the arc-shaped mounting holes 312 may be matched with a plurality of adjacent connecting holes 216 to be detachably connected, so that a plurality of connecting frames 300 are also arranged in a circular ring shape to reduce the relative error of the mounting positions of the plurality of second sensors 500. Different numbers of link 300 can be through the cooperation of arc mounting hole 312 and connecting hole 216, install the different positions of the annular ring on base plate 210 for second sensor 500's quantity can be according to the design demand nimble change, only need change link 300's quantity and mounted position can, make second sensor 500's change more convenient, improved second sensor 500's commonality and expansibility.
The bottom plate 310 is provided with a wire passing hole D314 at the other side of the opposite plate 320. Referring to fig. 8, when the connecting frame 300 is mounted on the substrate 210, the wire hole D314 is located above the wire hole a 214.
The upper end of the vertical plate 320 and the two lateral ends in the horizontal direction are respectively provided with a blocking wall 322, the three blocking walls 322 are matched with the bottom plate 310, the second sensor 500 can be inserted into the blocking walls, the connecting frames 300 correspond to the second sensors 500 one to one, the second sensors 500 are quickly connected with the connecting frames 300, and the installation is more convenient. The vertical plate 320 is further provided with a wire passing hole E324, and as shown in fig. 8, after the connecting frame 300 is mounted on the substrate 210, the wire passing hole E324 is disposed corresponding to the wire passing hole C226.
Referring to fig. 5 and 8, after each second sensor 500 is mounted on the substrate 210 through the corresponding connecting frame 300, cable wiring can be performed through the corresponding wire passing hole, where the wire passing hole includes the wire passing hole a214, the wire passing hole C226, the wire passing hole D314, and the wire passing hole E324, so that cables are more concentrated, the overall cable layout is simple, and signal interference with the body of the unmanned vehicle is reduced.
It should be noted that the embodiment of the present application does not limit the specific use manner of the wire through hole a214, the wire through hole C226, the wire through hole D314, and the wire through hole E324, and in some other optional embodiments, the wire through hole D314 may also be used as the fixed connection frame 300, the wire through hole E324 may also be used as the fixed second sensor 500, the wire through hole a214 may also be used for reducing the weight of the substrate 210, and the wire through hole C226 may also be used for reducing the weight of the mounting stage 220.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An unmanned vehicle sensor integrated device (10), characterized by:
the unmanned vehicle sensor integrated device (10) comprises a cylinder base (100), an intermediate body (200), a first sensor (400) and a second sensor (500);
the intermediate body (200) is arranged in the cylinder base (100) and connected with the cylinder base (100), and the intermediate body (200) and the cylinder base (100) are coaxially arranged;
the first sensor (400) and the plurality of second sensors (500) are mounted to the intermediate body (200), and the plurality of second sensors (500) are arranged in an array around the first sensor (400).
2. The unmanned vehicle sensor integrated device (10) of claim 1, wherein:
the first sensor (400) is located outside the cartridge (100) and the second sensor (500) is located inside the cartridge (100).
3. The unmanned vehicle sensor integrated device (10) of claim 2, wherein:
the cartridge holder (100) comprises a cartridge body (110) and a cartridge cover (120);
the inner wall of the cylinder (110) is formed with a connection step (112), and the intermediate body (200) is detachably connected to the connection step (112);
the cartridge cover (120) is detachably attached to the cartridge body (110).
4. The unmanned vehicle sensor integrated device (10) of claim 3, wherein:
the cylinder cover (120) is provided with a first opening for exposing the first sensor (400);
the side wall of the cylinder body (110) is provided with a second opening (114) for mounting a transparent protection part (600), and the plurality of second openings (114) and the plurality of second sensors (500) are arrayed in a one-to-one correspondence manner.
5. The unmanned vehicle sensor integrated device (10) of claim 3, wherein:
the intermediate body (200) comprises a substrate (210) and a mounting table (220);
the base plate (210) is detachably connected to the connection step (112);
the mounting table (220) is convexly arranged at the center of the base plate (210), and the first sensor (400) is detachably connected to the mounting table (220);
a plurality of the second sensors (500) are mounted to the substrate (210) in an array around the mounting stage (220).
6. The unmanned vehicle sensor integrated device (10) of claim 5, wherein:
the base plate (210) is provided with a plurality of wire through holes in an array mode around the mounting table (220).
7. The unmanned vehicle sensor integrated device (10) of claim 5, wherein:
the unmanned vehicle sensor integrated device (10) further comprises a plurality of connecting frames (300);
the plurality of connecting frames (300) correspond to the plurality of second sensors (500) one by one, wherein each second sensor (500) is installed on the middle body (200) through the corresponding connecting frame (300).
8. The unmanned vehicle sensor integrated device (10) of claim 7, wherein:
the substrate (210) is provided with a plurality of connecting holes (216) around the mounting table (220) in an array;
the connection frame (300) is detachably connected to the connection hole (216).
9. The unmanned vehicle sensor integrated device (10) of claim 8, wherein:
the connecting frame (300) is provided with an arc-shaped mounting hole (312), and the arc-shaped mounting hole (312) is matched and connected with the connecting hole (216).
10. The unmanned vehicle sensor integrated device (10) of claims 1-5, wherein:
the inner edge end of the connecting step (112) is circular, and the outer edge end of the connecting step (112) is a regular polygon;
the outer edge end of the substrate (210) is a regular polygon matched with the outer edge end of the connecting step (112).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010502717.1A CN111469776A (en) | 2020-06-04 | 2020-06-04 | Unmanned vehicle sensor integrated device |
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| CN202010502717.1A CN111469776A (en) | 2020-06-04 | 2020-06-04 | Unmanned vehicle sensor integrated device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112958494A (en) * | 2021-02-01 | 2021-06-15 | 北京三快在线科技有限公司 | Vehicle-mounted vision acquisition module, active cleaning device thereof and unmanned vehicle |
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