CN111487629A - Sensor arrangement machine table and unmanned vehicle - Google Patents
Sensor arrangement machine table and unmanned vehicle Download PDFInfo
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- CN111487629A CN111487629A CN202010256990.0A CN202010256990A CN111487629A CN 111487629 A CN111487629 A CN 111487629A CN 202010256990 A CN202010256990 A CN 202010256990A CN 111487629 A CN111487629 A CN 111487629A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a board and unmanned car are settled to sensor is applied to the unmanned car in automatic driving, unmanned driving field, includes: a placement orientation for a test sensor, comprising: the sensor comprises a plurality of direction transfer mechanisms, wherein at least one direction transfer mechanism in the direction transfer mechanisms operates to enable the sensor to move towards a corresponding target direction, and the target directions corresponding to at least two direction transfer mechanisms in the direction transfer mechanisms are different. Therefore, the sensor arrangement machine platform that this application embodiment provided restriction is not strong when the installation position of test sensor, can test the installation position of sensor many times with low costs to seek the preferred installation position of sensor, improved prior art test sensor's installation position cycle length, problem with high costs.
Description
Technical Field
The application relates to the field of unmanned driving, in particular to a sensor arrangement machine table and an unmanned vehicle.
Background
In unmanned vehicles, emergency braking systems are often provided to provide emergency braking in the event of an emergency. An important component of an emergency braking system is an ultrasonic radar sensor. The ultrasonic radar sensor has high requirements on the installation direction, angle, height and other azimuths. Therefore, it is necessary to test the installation orientation of the ultrasonic radar sensor.
The existing test method usually carries out theoretical design and real-vehicle test on the installation orientation of the sensor, but the mode has long period and high cost.
Disclosure of Invention
An object of the embodiment of the application is to provide a sensor arrangement machine and an unmanned vehicle, which are used for solving the problems of long period and high cost in the process of testing the installation position of a sensor in the prior art.
In a first aspect, an embodiment of the present application provides a sensor arrangement machine for testing an arrangement position of a sensor, including: the sensor comprises a plurality of direction transfer mechanisms, wherein at least one direction transfer mechanism in the direction transfer mechanisms operates to enable the sensor to move towards a corresponding target direction, and the target directions corresponding to at least two direction transfer mechanisms in the direction transfer mechanisms are different.
In the above-described embodiment, the target directions of at least two of the plurality of direction-shifting mechanisms are different from each other, so that the sensor can move in a plurality of directions. Therefore, the sensor arrangement machine platform that this application embodiment provided restriction is not strong when the installation position of test sensor, can test the installation position of sensor many times with low costs to seek the preferred installation position of sensor, improved prior art test sensor's installation position cycle length, problem with high costs.
In one possible design, the plurality of direction-shifting mechanisms includes a first direction-shifting mechanism, a second direction-shifting mechanism, a third direction-shifting mechanism, and a fourth direction-shifting mechanism; the first direction transfer mechanism, the second direction transfer mechanism, the third direction transfer mechanism and the fourth direction transfer mechanism are sequentially connected.
In the above-described embodiment, the position movement of the sensor in the four directions can be realized by the four direction transfer mechanisms, that is, the first direction transfer mechanism, the second direction transfer mechanism, the third direction transfer mechanism, and the fourth direction transfer mechanism, and the movable range of the sensor is greatly increased.
In one possible design, the first direction transfer mechanism includes a base, a first slide rail, a first motor, a first transmission mechanism, and a support frame; the first sliding rail is arranged on the surface of the base, and a first sliding rail transmission part matched with the first transmission mechanism is further arranged on the first sliding rail; the first motor and the first transmission mechanism are connected with one end of the support frame; the first motor rotates to drive the first transmission mechanism to operate, and the first transmission mechanism is matched with the first slide rail transmission piece to drive the support frame and the sensor to move along the extending direction of the first slide rail.
In the above embodiment, the first motor rotates to drive the first transmission mechanism to operate, so that the support frame and the sensor on the support frame move along the extending direction of the first slide rail, and thus the position of the sensor in the extending direction of the first slide rail can be adjusted, and a better square point is obtained.
In one possible design, the first transmission mechanism comprises a first worm wheel and a first worm, the transmission part arranged on the first sliding rail comprises a fixed rod, and the side surface of the fixed rod is provided with threads; the first worm wheel is arranged on a rotating shaft of the first motor, the first worm wheel is matched with the first worm in a worm wheel and worm transmission mode, threads are arranged on the side wall of one end, far away from the first worm wheel, of the first worm, and the threads are meshed with the threads on the side surface of the fixed rod; the first worm wheel is driven by the rotation of the first motor, the first worm wheel is driven by the rotation of the first worm, the first worm rotates by taking the first worm as an axis, and the first worm is driven by the fixed rod in a threaded engagement mode and the first worm and the support frame move along the extension direction of the first worm.
In the above embodiment, the first worm wheel may be coaxial with the rotation shaft of the first motor, and the first worm wheel rotates with the rotation shaft of the first motor, so as to drive the first worm to rotate around the first worm, the fixing rod is fixed in position, the first worm rotates, and the fixing rod is connected to the first worm in a threaded engagement manner, so that the first worm moves along the extending direction of the first worm while rotating, and the extending direction of the first worm may be the same as the extending direction of the first slide rail, thereby achieving movement of the sensor in the extending direction of the first slide rail.
In one possible design, the second direction transfer mechanism includes a second slide rail, a second motor, a second transmission mechanism, and a base; the second slide rail is arranged on one side, not matched with the first slide rail, of the support frame in the first direction transfer mechanism, the extending direction of the second slide rail is different from the extending direction of the first slide rail, the second slide rail is basically parallel to the side wall of the support frame, and a second slide rail transmission part matched with the second transmission mechanism is further arranged on the second slide rail; the second motor and the second transmission mechanism are connected with one end of the base; the second motor rotates to drive the second transmission mechanism to operate, and the second transmission mechanism is matched with the second slide rail transmission piece to drive the base and the sensor to move along the extending direction of the second slide rail.
In the above embodiment, a second slide rail may be disposed on a side of the support frame not engaged with the first slide rail, the base station may slide relative to the second slide rail, the sensor is disposed on the base, the second motor rotates to drive the second transmission mechanism to operate, and the second transmission mechanism is engaged with the second slide rail transmission member after operating, so as to drive the sensor to move in the extending direction of the second slide rail, thereby adjusting the position of the sensor in the extending direction of the second slide rail, and obtaining a better azimuth.
In one possible design, the third direction transfer mechanism includes a third motor, a third transmission mechanism, and a turntable; the third motor and the third transmission mechanism are connected with the base of the second direction transfer mechanism; the third motor rotates to drive the third transmission mechanism to operate, and the third transmission mechanism drives the turntable and the sensor to rotate.
In the above embodiment, the base may be connected to the turntable by a third motor and a third direction transfer mechanism, and the sensor is disposed on the turntable. The third motor rotates to drive the third transmission mechanism to operate, so that the rotation of the rotary table is realized, the rotary table rotates to drive the sensor arranged on the rotary table to rotate, the position of the sensor in the rotating direction of the rotary table can be adjusted, and a better square point is obtained.
In one possible design, the first transmission mechanism of the first direction transfer mechanism, the second transmission mechanism of the second direction transfer mechanism, and the third transmission mechanism of the third direction transfer mechanism are all turbine worm transmission mechanisms or gear transmission mechanisms.
In the above-mentioned embodiments, the first transmission mechanism of the first direction transfer mechanism, the second transmission mechanism of the second direction transfer mechanism, and the third transmission mechanism of the third direction transfer mechanism may be all gear transmission mechanisms, and may also be other transmission mechanisms, such as worm and gear transmission mechanisms, and the specific transmission type of the third transmission mechanism should not be construed as limiting the application.
In one possible design, the plurality of motors includes a fourth motor, and the fourth direction transfer mechanism includes a fourth motor and a fourth transmission mechanism; the sensor is connected with the rotary disc of the third direction transfer mechanism through a hinge; the fourth motor rotates to drive the fourth transmission mechanism to operate, and the fourth transmission mechanism drives the sensor to rotate relative to the turntable by taking the rotating shaft of the hinge as an axis.
In the above embodiment, the fourth motor drives the fourth transmission mechanism to operate, so as to drive the sensor to move in the pitch angle direction by using the rotating shaft of the hinge as an axis, thereby adjusting the position of the sensor in the pitch angle direction, and obtaining a better square point.
In one possible design, the fourth transmission mechanism is a worm gear transmission mechanism, and a worm of the fourth transmission mechanism is a rotating shaft of the hinge.
In the above embodiment, the rotating shaft of the hinge may be a worm of a worm gear, and the rotating shaft may be fixedly connected to the sensor, so as to drive the sensor to rotate in the pitch angle direction when the rotating shaft rotates.
In one possible design, the target directions corresponding to at least two direction transfer mechanisms in the plurality of direction transfer mechanisms are the same, and the accuracy of the transfer distances is different.
In the above embodiment, the movement with both speed and movement accuracy in the same direction can be realized, so that the movement of the sensor is more accurate.
In a second aspect, an embodiment of the present application provides an unmanned vehicle, settle the board including sensor and foretell sensor, the sensor set up in the sensor is settled on the board.
In the above embodiment, the sensor installation station may be used to individually set the sensor installation position of the unmanned vehicle, so that the position of the sensor for the unmanned vehicle is more suitable for the structural characteristics of the unmanned vehicle.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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 of the present application 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 that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic view illustrating a view structure of a sensor placement machine according to an embodiment of the disclosure;
fig. 2 is a schematic view illustrating another view structure of a sensor placement machine according to an embodiment of the disclosure;
fig. 3 is a schematic structural diagram illustrating a first transmission mechanism of a sensor placement machine according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram illustrating a third transmission mechanism of a sensor placement machine provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram illustrating a fourth transmission mechanism of a sensor placement machine provided in an embodiment of the present application;
fig. 6 is a schematic diagram illustrating an operating state of the sensor placement machine.
Icon: a sensor placement machine 100; a first electric motor 111; a second motor 112; a third motor 113; a fourth motor 114; the first transmission mechanism 121; a first worm wheel 1211; a first worm 1212; a fixing rod 1213; a third transmission mechanism 123; a third worm gear 1231; a third worm 1232; a fourth transmission 124; a fourth worm gear 1241; a fourth worm 1242; a support frame 130; a first slide rail 140; a second slide rail 150; a base 160; a turntable 170; a hinge 180; a base 190; a sensor 200.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
For unmanned vehicles in the field of autonomous driving and unmanned driving, an important system is an emergency braking system, and an important component of the system is an ultrasonic radar sensor. The specific direction of the ultrasonic radar sensor has direct influence on the braking effect of the emergency braking system. The existing method for measuring the installation position of the ultrasonic radar sensor is generally theoretical design and real vehicle test, and has long period and high cost. The sensor arrangement machine platform provided by the embodiment of the application drives different transmission mechanisms through different motors respectively, so that the sensor can move in multiple directions, the installation position of the sensor can be tested for multiple times at low cost, and the better installation position of the sensor can be found out.
Referring to fig. 1 and fig. 2, fig. 1 and fig. 2 collectively illustrate a sensor positioning apparatus 100 provided in an embodiment of the present application, where the sensor positioning apparatus 100 includes: the sensor comprises a plurality of direction transfer mechanisms, wherein at least one direction transfer mechanism in the direction transfer mechanisms operates to enable the sensor to move towards a corresponding target direction, and the target directions corresponding to at least two direction transfer mechanisms in the direction transfer mechanisms are different.
The plurality of direction transfer mechanisms comprise a first direction transfer mechanism, a second direction transfer mechanism, a third direction transfer mechanism and a fourth direction transfer mechanism; the first direction transfer mechanism, the second direction transfer mechanism, the third direction transfer mechanism and the fourth direction transfer mechanism are sequentially connected.
The first direction transfer mechanism may include a first motor 111 and a first transmission mechanism 121, the second direction transfer mechanism may include a second motor 112 and a second transmission mechanism, the third direction transfer mechanism may include a third motor 113 and a third transmission mechanism 123, and the fourth direction transfer mechanism may include a fourth motor 114 and a fourth transmission mechanism 124. The first motor 111 corresponds to the first transmission mechanism 121, the second motor 112 corresponds to the second transmission mechanism, the third motor 113 corresponds to the third transmission mechanism 123, and the fourth motor 114 corresponds to the fourth transmission mechanism 124.
At least one of the plurality of motors rotates to drive the corresponding transmission mechanism to operate, so that the sensor 200 moves to the corresponding target direction under the operation of the transmission mechanism, and the target directions corresponding to at least two transmission mechanisms in the plurality of transmission mechanisms are different.
Alternatively, in one embodiment, the number of transmission mechanisms may be the same as the number of motors, and there may be a one-to-one correspondence. In another embodiment, the number of the transmission mechanisms may be different from the number of the motors, and one motor may control a plurality of transmission mechanisms, and therefore, the correspondence relationship between the number of the transmission mechanisms and the number of the motors should not be construed as a limitation to the present application.
The target directions corresponding to at least two transmission mechanisms in the plurality of transmission mechanisms are different, and may be different, for example, the first transmission mechanism 121 is different from the second transmission mechanism, the third transmission mechanism 123 and the fourth transmission mechanism 124 are both the same as the first transmission mechanism 121, and the third transmission mechanism 123 and the fourth transmission mechanism 124 are the same as the first transmission mechanism 121. Alternatively, the first transmission mechanism 121 may move in the direction with a higher speed and a lower precision; the third transmission mechanism 123 can move in the same direction at a speed slower than that of the first transmission mechanism 121 and at a precision higher than that of the first transmission mechanism 121, and the fourth transmission mechanism 124 can move in the same direction at a speed slower than that of the third transmission mechanism 123 and at a precision higher than that of the third transmission mechanism 123, so that the movement of speed and movement precision in the same direction can be realized. The target directions corresponding to the four transmission mechanisms may be different, that is, the first transmission mechanism 121, the second transmission mechanism, the third transmission mechanism 123 and the fourth transmission mechanism 124 are different from each other, so as to increase the movable range of the sensor to a greater extent.
Referring to fig. 1, the first direction transferring mechanism of the sensor positioning machine 100 may further include a base 190, a supporting frame 130 and a first sliding rail 140, and the supporting frame 130 may move along an extending direction of the first sliding rail 140 (i.e., a direction shown by an arrow a in fig. 1). The first motor 111 and the first transmission mechanism 121 are both connected to one end of the supporting frame 130, and the first slide rail 140 may be provided with a first slide rail transmission member engaged with the first transmission mechanism 121. The first motor 111 rotates to drive the first transmission mechanism 121 to operate, and the operated first transmission mechanism 121 is matched with the first sliding rail transmission member to drive the supporting frame 130 to move along the extending direction of the first sliding rail 140, so that the position of the sensor 200 in the extending direction of the first sliding rail 140 can be adjusted to obtain a better square point.
Alternatively, referring to fig. 3, the first transmission mechanism 121 may be a worm gear transmission mechanism, the first transmission mechanism 121 includes a first worm wheel 1211 and a first worm 1212, the first sliding rail transmission member may be a fixed rod 1213, and a side surface of the fixed rod 1213 is provided with a thread.
The first worm wheel 1211 is disposed on a rotation shaft of the first motor 111, the rotation shaft of the first worm wheel 1211 is coaxial with the rotation shaft of the first motor 111, the first worm 1212 may be disposed perpendicular to the first worm wheel 1211, a side surface of the first worm 1212 is provided with a thread, and the first worm 1212 and the first worm wheel 1211 may be engaged by a thread engagement. The side wall of the first worm 1212, which is distal from the end of the first worm wheel 1211, may also be threaded and engage with the threads of the side surface of the fixing rod 1213.
The first motor 111 can drive the first worm wheel 1211 to rotate counterclockwise or clockwise, referring to fig. 3, it is not necessary that the first motor 111 drives the first worm wheel 1211 to rotate in the direction indicated by the arrow E in fig. 3, and the first worm 1212 is driven by the rotation of the first worm wheel 1211 to rotate in the direction indicated by the arrow F in fig. 3. Since the rotating first worm 1212 is engaged with the thread on the surface of the fixing rod 1213 and the fixing rod 1213 is kept stationary, the first worm 1212 is allowed to rotate in the direction indicated by the arrow F and move in the direction of the arrow G in fig. 3, which is the extending direction of the first sliding rail 140, so as to drive the whole supporting rack 130 to move in the extending direction of the first sliding rail 140.
The first transmission mechanism 121 may be a worm transmission mechanism or other transmission mechanisms, for example, the first transmission mechanism 121 may further include a driving wheel (not shown), a driven wheel (not shown), and a transmission belt (not shown), the transmission belt is sleeved on the driving wheel and the driven wheel, the first sliding rail transmission member may be a frosted surface disposed on a surface of the first sliding rail, and the transmission belt may contact with the frosted surface on the surface of the first sliding rail 140. First motor 111 rotates and can drive the action wheel and rotate, and the action wheel can drive the conveyer belt with driven round and rotate together, because the conveyer belt contacts with the frosting on first slide rail 140 surface to realized that the conveyer belt removes along the extending direction of first slide rail 140, thereby driven whole support frame 130 and remove along the extending direction of first slide rail 140.
Optionally, referring to fig. 1, the second direction transferring mechanism may further include a second slide rail 150 and a base 160 engaged with the second slide rail 150, and the second slide rail 150 may be disposed on a side wall of the supporting frame 130. The second motor 112 and the second transmission mechanism may be both mounted at an end of the base 160 close to the second slide rail 150, the second slide rail 150 may be provided with a second slide rail transmission member engaged with the second transmission mechanism, the second motor 112 rotates to drive the second transmission mechanism to operate, and the second transmission mechanism and the second slide rail transmission member are engaged with each other to drive the base 160 to move along an extending direction of the second slide rail 150 (i.e., a direction indicated by an arrow B in fig. 1), so that a position of the sensor 200 in the extending direction of the second slide rail 150 may be adjusted, and a preferable square point is obtained.
The second transmission mechanism can also be a worm gear transmission mechanism, and can also be a transmission mechanism consisting of a driving wheel, a driven wheel and a conveyor belt. The second transmission mechanism may be the same as the first transmission mechanism 121, and will not be described herein.
Referring to fig. 1, the third direction-shifting mechanism may further include a turntable 170. The third motor 113 and the third transmission mechanism 123 may be both mounted on a side of the base 160 close to the turntable 170, the third motor 113 rotates to drive the third transmission mechanism 123 to operate, and the third transmission mechanism 123 drives the turntable 170 to rotate, so that the position of the sensor 200 in the rotation direction of the turntable 170 (i.e., the direction indicated by the arrow C in fig. 1) can be adjusted, thereby obtaining a better orientation.
Referring to fig. 4, fig. 4 shows a schematic structural diagram of an embodiment of the third transmission mechanism 123, the third transmission mechanism 123 includes a third worm wheel 1231 and a third worm 1232, a rotation shaft of the third motor 113 is coaxial with the third worm 1232, and the third worm 1232 can rotate along with the rotation of the third motor 113. One end of the third worm 1232 away from the third motor 113 is provided with a thread, and the third worm 1232 is matched with the third worm gear 1231 through the thread, and the third worm gear 1231 can be fixedly connected with the turntable 170.
The third worm 1232 can be driven by the third motor 113 to rotate clockwise or counterclockwise, it is not necessary that the third worm 1232 is driven by the third motor 113 to rotate in the direction of the arrow H in fig. 4, and the third worm 1232 rotates to drive the third worm gear 1231 to rotate in the direction of the arrow I in fig. 4, so as to drive the rotary plate 170 to rotate in the direction shown by the arrow I.
Alternatively, the third transmission mechanism 123 may be the worm gear transmission mechanism described above, and may also be other transmission mechanisms, such as a gear transmission mechanism, for example, two bevel gears meshed with each other, and the specific transmission type of the third transmission mechanism 123 should not be construed as limiting the present application.
The sensor 200 may be disposed on a surface of the turntable 170, and the sensor 200 is connected to the turntable 170 by the hinge 180. The fourth transmission mechanism 124 is configured to operate under the rotation of the fourth motor 114, so as to drive the sensor 200 to rotate relative to the turntable 170 with the rotation shaft of the hinge 180 as an axis.
Alternatively, the fourth transmission mechanism 124 may be a worm gear transmission mechanism, the worm of the fourth transmission mechanism 124 may be a rotating shaft of the hinge 180, and the sensor 200 may be fixed opposite to the rotating shaft of the hinge 180.
Referring to fig. 5, the fourth transmission mechanism 124 may include a fourth worm 1242 and a fourth worm gear 1241, a rotation shaft of the fourth worm 1241 may be coaxial with a rotation shaft of the fourth motor 114, the fourth worm gear 1241 rotates with the rotation of the fourth motor 114, the fourth worm 1242 may be disposed perpendicular to the fourth worm gear 1241, a side surface of the fourth worm 1242 is provided with a thread, and the fourth worm 1242 and the fourth worm gear 1241 may be engaged with each other by a threaded engagement.
The fourth motor 114 can drive the fourth worm wheel 1241 to rotate counterclockwise or clockwise, referring to fig. 5, it is not necessary that the fourth motor 114 drives the fourth worm wheel 1241 to rotate along the direction shown by the arrow K in fig. 5, and the fourth worm 1242 is driven by the rotation of the fourth worm wheel 1241 to rotate along the direction shown by the arrow J in fig. 5. Since the sensor 200 is fixed relative to the rotation shaft of the hinge 180 (i.e., the fourth worm 1242), the sensor 200 can move in the direction indicated by the arrow D in fig. 1 with the rotation of the fourth worm 1242, so that the position of the sensor 200 in the pitch angle direction can be adjusted, thereby obtaining a better square point.
In the above embodiment, the first motor 111 may drive the sensor 200 to move along the first sliding rail 140, the second motor 112 may drive the sensor 200 to move along the second sliding rail 150, the third motor 113 may drive the sensor 200 to rotate along the turntable 170, and the fourth motor 114 may drive the sensor 200 to rotate along the hinge 180; alternatively, in a specific embodiment, the motor may also drive the sensor to move through other transmission manners, for example, the sensor 200 may be driven to move along four sliding rails in different directions, and the sensor 200 may also be driven to move along four conveyor belts in different directions, and the specific manner of moving the sensor 200 should not be construed as limiting the application.
The working principle of the sensor installation machine 100 provided by the embodiment of the application is as follows:
referring to fig. 6, a plurality of sensor placement machines 100 may be all placed on the same bottom plate, and the bottom plate may be disposed on the unmanned vehicle, and each sensor placement machine 100 may be provided with one sensor 200, and the plurality of sensor placement machines 100 may be used to measure the preferred installation positions of the plurality of sensors at the same time.
The sensor placement machine 100 may further include a controller and an actuator, the controller is electrically connected to the sensors 200 and the actuator, and the actuator is electrically connected to the plurality of motors of each sensor placement machine 100. The controller may receive the result data returned from the sensor 200, and calculate the adjustment amount of each of the plurality of motors to be adjusted by the actuator based on the result data and the internal algorithm, and may store the result data and the adjustment amount corresponding to the result data. The executor can try through the regulation to a plurality of motors many times, find out the sensor 200 installation position of preferred, the sensor arrangement board 100 that this application provided can optimize the position of sensor 200, the angle isoparametric through the result data, realize the demarcation of position, angle, height isoparametric fast, shorten research and development cycle by a wide margin, and need not make a large amount of samples alright accomplish the test procedure, practice thrift the cost.
The embodiment of the application also provides an unmanned vehicle, and the unmanned vehicle comprises a sensor and the sensor arranging machine table, wherein the sensor is arranged on the sensor arranging machine table.
The unmanned vehicle that this application embodiment provided can utilize the sensor to settle the board and come to carry out individualized setting to the sensor mounted position of this unmanned vehicle for the position that the sensor set up to this unmanned vehicle satisfies the structural feature of this unmanned vehicle more.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of 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. The utility model provides a sensor arrangement board which characterized in that for the arrangement position of adjustment sensor, includes:
the sensor comprises a plurality of direction transfer mechanisms, wherein at least one direction transfer mechanism in the direction transfer mechanisms operates to enable the sensor to move towards a corresponding target direction, and the target directions corresponding to at least two direction transfer mechanisms in the direction transfer mechanisms are different.
2. The sensor placement machine according to claim 1, wherein the plurality of direction transfer mechanisms includes a first direction transfer mechanism, a second direction transfer mechanism, a third direction transfer mechanism, and a fourth direction transfer mechanism; the first direction transfer mechanism, the second direction transfer mechanism, the third direction transfer mechanism and the fourth direction transfer mechanism are sequentially connected.
3. The sensor placement machine according to claim 2, wherein the first direction transfer mechanism comprises a base, a first slide rail, a first motor, a first transmission mechanism, and a support frame;
the first sliding rail is arranged on the surface of the base, and a first sliding rail transmission part matched with the first transmission mechanism is further arranged on the first sliding rail;
the first motor and the first transmission mechanism are connected with one end of the support frame;
the first motor rotates to drive the first transmission mechanism to operate, and the first transmission mechanism is matched with the first slide rail transmission piece to drive the support frame and the sensor to move along the extending direction of the first slide rail.
4. The sensor placement machine according to claim 2, wherein the second direction transfer mechanism comprises a second slide rail, a second motor, a second transmission mechanism, and a base;
the second slide rail is arranged on one side, not matched with the first slide rail, of the support frame in the first direction transfer mechanism, the extending direction of the second slide rail is different from the extending direction of the first slide rail, the second slide rail is basically parallel to the side wall of the support frame, and a second slide rail transmission part matched with the second transmission mechanism is further arranged on the second slide rail;
the second motor and the second transmission mechanism are connected with one end of the base;
the second motor rotates to drive the second transmission mechanism to operate, and the second transmission mechanism is matched with the second slide rail transmission piece to drive the base and the sensor to move along the extending direction of the second slide rail.
5. The sensor placement machine according to claim 2, wherein the third direction transfer mechanism comprises a third motor, a third transmission mechanism and a turntable;
the third motor and the third transmission mechanism are connected with the base of the second direction transfer mechanism;
the third motor rotates to drive the third transmission mechanism to operate, and the third transmission mechanism drives the turntable and the sensor to rotate.
6. The sensor placement machine according to claim 2, wherein the first transmission mechanism of the first direction transfer mechanism, the second transmission mechanism of the second direction transfer mechanism, and the third transmission mechanism of the third direction transfer mechanism are all worm gear transmission mechanisms or gear transmission mechanisms.
7. The sensor placement machine according to claim 2, wherein the fourth direction transfer mechanism comprises a fourth motor and a fourth transmission mechanism;
the sensor is connected with the rotary disc of the third direction transfer mechanism through a hinge;
the fourth motor rotates to drive the fourth transmission mechanism to operate, and the fourth transmission mechanism drives the sensor to rotate relative to the turntable by taking the rotating shaft of the hinge as an axis.
8. The sensor placement machine according to claim 7, wherein the fourth transmission mechanism is a worm gear transmission mechanism, and a worm of the fourth transmission mechanism is a rotating shaft of the hinge.
9. The sensor placement machine according to claim 1, wherein at least two of the plurality of direction transfer mechanisms have the same target direction and different transfer distance accuracy.
10. An unmanned aerial vehicle, comprising a sensor and the sensor placement machine of any one of claims 1-9, wherein the sensor is disposed on the sensor placement machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010256990.0A CN111487629A (en) | 2020-04-02 | 2020-04-02 | Sensor arrangement machine table and unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010256990.0A CN111487629A (en) | 2020-04-02 | 2020-04-02 | Sensor arrangement machine table and unmanned vehicle |
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| CN111487629A true CN111487629A (en) | 2020-08-04 |
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| CN202010256990.0A Pending CN111487629A (en) | 2020-04-02 | 2020-04-02 | Sensor arrangement machine table and unmanned vehicle |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772327A (en) * | 2016-12-28 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of multi-functional ultrasonic sensor directivity test device easy to install |
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| CN208314185U (en) * | 2018-05-17 | 2019-01-01 | 驭势科技（北京）有限公司 | The test device of radar position |
| JP2019032700A (en) * | 2017-08-08 | 2019-02-28 | 株式会社東芝 | Information processing equipment, information processing method, program, and moving entity |
| CN109471456A (en) * | 2018-11-09 | 2019-03-15 | 广州小鹏汽车科技有限公司 | Navigation device and navigation system |
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2020
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| CN106772327A (en) * | 2016-12-28 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of multi-functional ultrasonic sensor directivity test device easy to install |
| JP2019032700A (en) * | 2017-08-08 | 2019-02-28 | 株式会社東芝 | Information processing equipment, information processing method, program, and moving entity |
| CN207523571U (en) * | 2017-11-07 | 2018-06-22 | 北京工业职业技术学院 | Sensor levelling device and vehicle |
| CN208314185U (en) * | 2018-05-17 | 2019-01-01 | 驭势科技（北京）有限公司 | The test device of radar position |
| CN209198946U (en) * | 2018-09-18 | 2019-08-02 | 北京图森未来科技有限公司 | Sensor position adjusts apparatus and system, vehicle navigation apparatus and system, vehicle |
| CN109471456A (en) * | 2018-11-09 | 2019-03-15 | 广州小鹏汽车科技有限公司 | Navigation device and navigation system |
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