CN113561943A - Combined sensing module and automatic driving vehicle using same - Google Patents
Combined sensing module and automatic driving vehicle using same Download PDFInfo
- Publication number
- CN113561943A CN113561943A CN202110791534.0A CN202110791534A CN113561943A CN 113561943 A CN113561943 A CN 113561943A CN 202110791534 A CN202110791534 A CN 202110791534A CN 113561943 A CN113561943 A CN 113561943A
- Authority
- CN
- China
- Prior art keywords
- camera
- radar
- cleaning
- nozzle
- sensing module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
-
- 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
-
- 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
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/62—Other vehicle fittings for cleaning
- B60S1/66—Other vehicle fittings for cleaning for cleaning vehicle exterior
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
Abstract
The invention provides a combined sensing module and an automatic driving vehicle using the same, wherein the combined sensing module comprises: a housing; a top radar; a side camera; the side wall of the shell is provided with an exposure hole for exposing the side camera, the shell is provided with a plurality of fan-shaped grooves, each fan-shaped groove comprises two groove side walls and a groove bottom wall, the exposure hole is positioned at the intersection of the two groove side walls, and a convex structure is formed between every two adjacent fan-shaped grooves; the side camera cleaning spray head is arranged on the raised structure, the side wall of the tank or the bottom wall of the tank; and the top radar cleaning nozzle is arranged on the raised structure. The side camera cleaning sprayer and the top radar cleaning sprayer are integrated, so that the side camera and the top radar can be cleaned, normal shooting of the camera cannot be influenced, and the labor amount of manual cleaning is greatly reduced; and can in time control and wash shower nozzle work and wash camera and radar according to actual demand, guarantee the normal service function of combination perception module, guarantee driving safety.
Description
Technical Field
The invention relates to the technical field of automatic driving vehicles, in particular to a combined sensing module and an automatic driving vehicle using the same.
Background
The automatic driving vehicle replaces the eyes of a person by means of sensing elements, and all logic judgment of the vehicle is based on a sensing module of the vehicle. Along with the development of autopilot technique, the radar that perception module contained and the camera is more and more made the integrated form, for example authorize the notice number for CN211139202U the Chinese utility model in disclose sensor external member (be perception module), including the casing, set up the support in the casing and install lidar and a plurality of camera on the support, a plurality of camera interval arrangement are at the lateral part of casing, are equipped with the through-hole that exposes the camera on the casing, and lidar wears out the top of casing.
The existing sensing module is used for operating vehicles under severe working conditions, such as similar mine cars, and the like, and pollutants such as mud and sand are easily stained on the radar and the camera, so that the sensing system cannot sense the external environment, and further the automatic driving vehicle is out of control, and driving danger is caused. Therefore, the sensing module needs to be cleaned.
However, most of the automatic driving vehicle sensing systems are not provided with an automatic cleaning system, and the sensing modules need to be cleaned manually, so that the amount of manual labor is increased. And moreover, manual cleaning can be carried out only when the vehicle is stopped, and if the vehicle is stained with pollutants such as mud, sand and the like during running, the vehicle cannot be cleaned in time, so that great hidden danger is brought to the running safety.
Disclosure of Invention
The invention aims to provide a combined sensing module which can reduce the labor amount of manual cleaning and can clean a camera and a radar in time according to requirements; the invention aims to provide an automatic driving vehicle which can reduce the labor amount of manual cleaning and can clean a camera and a radar in time according to requirements.
In order to achieve the above purpose, the combined sensing module in the invention adopts the following technical scheme:
a combined sensing module, comprising:
a housing;
the top radar is fixedly arranged in the shell at one end, and penetrates out of the top of the shell at the other end;
the side cameras are arranged in plurality and are arranged in the shell;
the side wall of the shell is provided with an exposure hole for exposing the side camera, the shell is also provided with a plurality of fan-shaped grooves for avoiding the shooting range of the side camera, each fan-shaped groove comprises two groove side walls arranged at a certain included angle and a groove bottom wall connected with the groove side walls, the exposure hole is positioned at the intersection of the two groove side walls, and a convex structure is formed between every two adjacent fan-shaped grooves;
the combined sensing module further comprises:
the side camera cleaning spray head is arranged on the protruding structure, the side wall of the groove or the bottom wall of the groove and is provided with a spray opening arranged towards the exposure hole;
the top radar cleaning nozzle is installed on the protruding structure and provided with a nozzle facing the top radar.
The beneficial effects of the above technical scheme are that: because be equipped with fan-shaped recess on the casing, two groove lateral walls of fan-shaped recess form certain contained angle naturally, and the hole site that exposes of lateral part camera is located the intersection of two groove lateral walls moreover, just so can not influence the scope of taking a photograph that the lateral part camera was taken, guarantees that the lateral part camera normally shoots.
The combined sensing module also comprises a side camera cleaning spray head which is arranged on the raised structure, the side wall of the groove or the bottom wall of the groove and is provided with a nozzle which is arranged towards the exposed hole, so that the side camera is conveniently cleaned; simultaneously, combination perception module still washs the shower nozzle including installing the top radar on protruding structure, and it has the spout that sets up towards the top radar to the convenience washs the top radar, and installs and can not influence the shooting of lateral part camera, easy to assemble and use at protruding structural.
In conclusion, the combined sensing module integrates the side camera cleaning nozzle and the top radar cleaning nozzle, so that the side camera and the top radar can be cleaned, normal shooting of the side camera cannot be influenced, the cleaning nozzle can be automatically cleaned as long as a water source is communicated, and the labor amount of manual cleaning is greatly reduced; and the cleaning nozzle is integrated on the combined sensing module, namely the vehicle, so that the cleaning nozzle can be controlled to work in time to clean the camera and the radar according to actual requirements, the normal use function of the combined sensing module is ensured, and the driving safety is further ensured.
Further, the lateral part camera includes the first camera of two at least lateral parts of interval arrangement on same circumference, and lateral part camera washs the shower nozzle including setting up the first shower nozzle between the first camera of two adjacent lateral parts, and first shower nozzle is installed and is constructed protruding spout of first shower nozzle and be equipped with two to wash the first camera of two lateral parts simultaneously.
The beneficial effects of the above technical scheme are that: the arrangement space is fully utilized, the structure is compact, and the cost of the spray head can be saved.
Further, the top radar cleaning nozzle is located on one side, far away from the top radar, of the first nozzle.
The beneficial effects of the above technical scheme are that: stagger inside and outside top radar cleaning shower nozzle and the first shower nozzle, avoid both to influence each other, and make full use of protruding structural optimization mounting means between them, can make the width of protruding structure minimum, avoid protruding structural dimension to cross the influence camera shooting scope.
Furthermore, the edge of protruding structure is provided with the inclined plane, and top radar washs the shower nozzle and installs on the inclined plane to the spout that makes top radar wash the shower nozzle upwards sets up to one side.
The beneficial effects of the above technical scheme are that: the inclined plane has made things convenient for the installation of top radar washing shower nozzle, makes things convenient for top radar washing shower nozzle to spout the washing to the top radar in the slant.
Further, the lateral part camera still includes lateral part second camera, and the lateral part second camera is located the below of the first camera of lateral part in the forefront, and the lateral part second camera is long focus camera or wide-angle camera, and the first camera of lateral part is well focus camera.
The beneficial effects of the above technical scheme are that: the first camera of lateral part and the second camera of lateral part combine to use, and the first camera of lateral part is responsible for well closely shooing, and the second camera of lateral part is responsible for the long-distance shooting in place ahead or shoots more broad visual angle, provides more, more comprehensive surrounding environment information for the autopilot vehicle, ensures driving safety.
Further, the side part camera cleaning spray head further comprises a second spray head used for cleaning a side part second camera, and the second spray head is arranged on the groove side wall or the groove bottom wall of the fan-shaped groove where the side part second camera is located.
The beneficial effects of the above technical scheme are that: the convenience is washd to the lateral part second camera specially to do not influence the shooting range of lateral part second camera.
Furthermore, the combined sensing module also comprises a bottom radar and a bottom camera which are arranged at the bottom of the shell, wherein the bottom radar is used for detecting the vehicle blind area, and the bottom camera is used for shooting the vehicle blind area; the combined sensing module further comprises a bottom radar cleaning nozzle and a bottom camera cleaning nozzle which are arranged on the bottom surface of the shell.
The beneficial effects of the above technical scheme are that: the detection and shooting information of the vehicle blind area is provided, and the driving safety is further guaranteed.
Furthermore, protruding structure integrated into one piece on the casing is provided with in the casing and washs the shower nozzle, top radar washing shower nozzle, bottom camera washing shower nozzle and the washing pipeline that bottom radar washing shower nozzle communicates respectively with lateral part camera, and the washing pipeline is used for letting in the washing liquid or is used for letting in the washing liquid earlier, lets in stoving gas afterwards.
The beneficial effects of the above technical scheme are that: the convenience provides the washing liquid to wasing the shower nozzle to casing inside sets up the washing pipeline, and whole more is more pleasing to the eye, and uses safelyr.
Furthermore, the bottom wall of the fan-shaped groove is gradually inclined downwards from inside to outside.
The beneficial effects of the above technical scheme are that: the shooting range of the camera is prevented from being influenced by the bottom wall of the fan-shaped groove, and meanwhile, the cleaning liquid can flow away quickly.
In order to achieve the purpose, the automatic driving vehicle adopts the following technical scheme:
the utility model provides an automatic drive vehicle, includes the automobile body and installs the combination perception module in the automobile body left and right sides, and combination perception module includes:
a housing;
the top radar is fixedly arranged in the shell at one end, and penetrates out of the top of the shell at the other end;
the side cameras are arranged in plurality and are arranged in the shell;
the side wall of the shell is provided with an exposure hole for exposing the side camera, the shell is also provided with a plurality of fan-shaped grooves for avoiding the shooting range of the side camera, each fan-shaped groove comprises two groove side walls arranged at a certain included angle and a groove bottom wall connected with the groove side walls, the exposure hole is positioned at the intersection of the two groove side walls, and a convex structure is formed between every two adjacent fan-shaped grooves;
the combined sensing module further comprises:
the side camera cleaning spray head is arranged on the protruding structure, the side wall of the groove or the bottom wall of the groove and is provided with a spray opening arranged towards the exposure hole;
the top radar cleaning nozzle is installed on the protruding structure and provided with a nozzle facing the top radar.
The beneficial effects of the above technical scheme are that: because be equipped with fan-shaped recess on the casing, two groove lateral walls of fan-shaped recess form certain contained angle naturally, and the hole site that exposes of lateral part camera is located the intersection of two groove lateral walls moreover, just so can not influence the scope of taking a photograph that the lateral part camera was taken, guarantees that the lateral part camera normally shoots.
The combined sensing module also comprises a side camera cleaning spray head which is arranged on the raised structure, the side wall of the groove or the bottom wall of the groove and is provided with a nozzle which is arranged towards the exposed hole, so that the side camera is conveniently cleaned; simultaneously, combination perception module still washs the shower nozzle including installing the top radar on protruding structure, and it has the spout that sets up towards the top radar to the convenience washs the top radar, and installs and can not influence the shooting of lateral part camera, easy to assemble and use at protruding structural.
In conclusion, the combined sensing module integrates the side camera cleaning nozzle and the top radar cleaning nozzle, so that the side camera and the top radar can be cleaned, normal shooting of the side camera cannot be influenced, the cleaning nozzle can be automatically cleaned as long as a water source is communicated, and the labor amount of manual cleaning is greatly reduced; and the cleaning nozzle is integrated on the combined sensing module, namely the vehicle, so that the cleaning nozzle can be controlled to work in time to clean the camera and the radar according to actual requirements, the normal use function of the combined sensing module is ensured, and the driving safety is further ensured.
Further, the lateral part camera includes the first camera of two at least lateral parts of interval arrangement on same circumference, and lateral part camera washs the shower nozzle including setting up the first shower nozzle between the first camera of two adjacent lateral parts, and first shower nozzle is installed and is constructed protruding spout of first shower nozzle and be equipped with two to wash the first camera of two lateral parts simultaneously.
The beneficial effects of the above technical scheme are that: the arrangement space is fully utilized, the structure is compact, and the cost of the spray head can be saved.
Further, the top radar cleaning nozzle is located on one side, far away from the top radar, of the first nozzle.
The beneficial effects of the above technical scheme are that: stagger inside and outside top radar cleaning shower nozzle and the first shower nozzle, avoid both to influence each other, and make full use of protruding structural optimization mounting means between them, can make the width of protruding structure minimum, avoid protruding structural dimension to cross the influence camera shooting scope.
Furthermore, the edge of protruding structure is provided with the inclined plane, and top radar washs the shower nozzle and installs on the inclined plane to the spout that makes top radar wash the shower nozzle upwards sets up to one side.
The beneficial effects of the above technical scheme are that: the inclined plane has made things convenient for the installation of top radar washing shower nozzle, makes things convenient for top radar washing shower nozzle to spout the washing to the top radar in the slant.
Further, the lateral part camera still includes lateral part second camera, and the lateral part second camera is located the below of the first camera of lateral part in the forefront, and the lateral part second camera is long focus camera or wide-angle camera, and the first camera of lateral part is well focus camera.
The beneficial effects of the above technical scheme are that: the first camera of lateral part and the second camera of lateral part combine to use, and the first camera of lateral part is responsible for well closely shooing, and the second camera of lateral part is responsible for the long-distance shooting in place ahead or shoots more broad visual angle, provides more, more comprehensive surrounding environment information for the autopilot vehicle, ensures driving safety.
Further, the side part camera cleaning spray head further comprises a second spray head used for cleaning a side part second camera, and the second spray head is arranged on the groove side wall or the groove bottom wall of the fan-shaped groove where the side part second camera is located.
The beneficial effects of the above technical scheme are that: the convenience is washd to the lateral part second camera specially to do not influence the shooting range of lateral part second camera.
Furthermore, the combined sensing module also comprises a bottom radar and a bottom camera which are arranged at the bottom of the shell, wherein the bottom radar is used for detecting the vehicle blind area, and the bottom camera is used for shooting the vehicle blind area; the combined sensing module further comprises a bottom radar cleaning nozzle and a bottom camera cleaning nozzle which are arranged on the bottom surface of the shell.
The beneficial effects of the above technical scheme are that: the detection and shooting information of the vehicle blind area is provided, and the driving safety is further guaranteed.
Furthermore, protruding structure integrated into one piece on the casing is provided with in the casing and washs the shower nozzle, top radar washing shower nozzle, bottom camera washing shower nozzle and the washing pipeline that bottom radar washing shower nozzle communicates respectively with lateral part camera, and the washing pipeline is used for letting in the washing liquid or is used for letting in the washing liquid earlier, lets in stoving gas afterwards.
The beneficial effects of the above technical scheme are that: the convenience provides the washing liquid to wasing the shower nozzle to casing inside sets up the washing pipeline, and whole more is more pleasing to the eye, and uses safelyr.
Furthermore, the bottom wall of the fan-shaped groove is gradually inclined downwards from inside to outside.
The beneficial effects of the above technical scheme are that: the shooting range of the camera is prevented from being influenced by the bottom wall of the fan-shaped groove, and meanwhile, the cleaning liquid can flow away quickly.
Drawings
FIG. 1 is a perspective view of a combined sensing module according to the present invention;
FIG. 2 is a perspective view of another perspective view of the combined sensing module of the present invention;
FIG. 3 is a perspective view of a further perspective view of the combined sensing module of the present invention;
FIG. 4 is a top view of the combined sensing module of the present invention;
FIG. 5 is a perspective view of yet another perspective of the combined sensing module of the present invention;
FIG. 6 is a bottom view of the combined sensing module of the present invention.
In the figure: 1. a housing; 1-1, exposing the hole; 1-2, a first groove side wall; 1-3, a first tank bottom wall; 1-4, a convex structure; 1-5, inclined plane; 1-6, second groove side wall; 1-7, the second tank bottom wall; 2. a top radar; 3. a first camera on the side; 4. a first nozzle; 5. a top radar cleaning nozzle; 6. a second camera on the side; 7. a second nozzle; 8. a bottom camera; 9. the bottom camera is used for cleaning the spray head; 10. a bottom radar; 11. and the bottom radar cleaning spray head.
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 detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
One embodiment of the combined sensing module of the invention is shown in fig. 1, fig. 2 and fig. 3, and comprises a shell 1, a top radar 2 and a side camera, wherein one end of the top radar 2 is fixedly installed in the shell 1, and the other end of the top radar 2 penetrates through the top of the shell 1, and the top radar 2 is a 64-line laser radar and has strong detection capability. The side cameras are arranged in the shell 1, and an exposure hole 1-1 for exposing the side camera is formed in the side wall of the shell 1.
The side cameras include at least two side first cameras 3 arranged on the same circumference at intervals, specifically, four side first cameras 3 are provided in the embodiment; the left and right sides at the automobile body of automatic driving vehicle is installed when using to combination perception module, for example the position of rear-view mirror, and the first camera 3 of four lateral parts sets up along the lateral part equipartition of casing 1 from the front to the back, can shoot the environment in place ahead, lateral part and rear, and is preferred, and the first camera 3 of four lateral parts is well burnt camera, conveniently carries out well closely shooting.
As shown in fig. 3, the side camera further includes a second side camera 6, the second side camera 6 is located below the first side camera 3 located at the forefront, and the second side camera 6 is a telephoto camera or a wide-angle camera, so that the user can shoot a long distance ahead or a wider viewing angle, more and more comprehensive surrounding environment information is provided for the autonomous driving vehicle, and driving safety is guaranteed.
As shown in fig. 1, 2, 3 and 4, the housing 1 is further provided with a plurality of fan-shaped grooves for avoiding the shooting range of the side cameras, three first side cameras 3 correspond to the first fan-shaped grooves, that is, three first fan-shaped grooves, and the remaining first side camera 3 (i.e., the first frontmost side camera) and the second side camera 6 correspond to the second fan-shaped groove, which is only one second fan-shaped groove. The first fan-shaped groove comprises two first groove side walls 1-2 arranged at a certain included angle and a first groove bottom wall 1-3 connected with the first groove side walls 1-2, and the exposure holes of the first cameras 3 at the three side parts are all positioned at the intersection of the two first groove side walls 1-2 (as shown in fig. 1 and 2). Similarly, the second fan-shaped groove comprises two second groove side walls 1-6 arranged at an included angle and a second groove bottom wall 1-7 connected with the second groove side walls 1-6, and the foremost first camera 3 at the side part and the second camera 6 at the side part are positioned at the intersection of the two second groove side walls 1-6 (as shown in fig. 3), so that the height of the second groove side walls 1-6 is greater than that of the first groove side walls 1-2, and the height of the second groove bottom wall 1-7 is lower than that of the first groove bottom wall 1-3.
A convex structure 1-4 is formed between two adjacent fan-shaped grooves, and the convex structures 1-4 are integrally formed on the shell 1. The combined sensing module further comprises a side camera cleaning sprayer, as shown in fig. 1 and fig. 2, the side camera cleaning sprayer comprises first sprayers 4 installed on the protruding structures 1-4, each first sprayer 4 is provided with a nozzle arranged towards the exposed hole of each side first camera 3, only two first sprayers 4 are arranged between every two adjacent side first cameras 3, and therefore the number of the nozzles of each first sprayer 4 is two, so that the two side first cameras 3 are cleaned at the same time, the four side first cameras 3 are cleaned, the arrangement space is fully utilized, the structure is compact, and the cost of the sprayer can be saved.
As shown in fig. 3, the side camera cleaning nozzle further includes a second nozzle 7 for cleaning the side second camera 6, the second nozzle 7 is installed on the second groove side wall 1-6 of the fan-shaped groove (i.e. the second fan-shaped groove) where the side second camera 6 is located, the second nozzle 7 has a nozzle opening arranged toward the exposed hole of the side second camera 6, and is a single nozzle opening, and meanwhile, the spraying range of the second nozzle 7 covers the side first camera 3 at the forefront, so that the cleaning effect is further improved.
As shown in fig. 1 to 4, the combined sensing module further includes a top radar cleaning nozzle 5 installed on the protruding structure 1-4, and the top radar cleaning nozzle 5 has a nozzle arranged toward the top radar 2 and is a single nozzle to clean the top radar. The number of the top radar cleaning nozzles 5 is five, two of the top radar cleaning nozzles are respectively arranged on the same protrusion structures 1-4 with the first nozzle 4 and are positioned on one side of the first nozzle 4, which is far away from the top radar 2, namely, on the outer side of the first nozzle 4. Specifically, the edges of the protruding structures 1-4 are provided with inclined planes 1-5, and the top radar cleaning spray heads 5 are installed on the inclined planes 1-5, so that the spray nozzles of the top radar cleaning spray heads 5 are arranged obliquely upwards, and the installation and the arrangement are convenient.
In addition, as shown in fig. 5 and fig. 6, the combined sensing module further comprises a bottom radar 10 and a bottom camera 8 which are installed at the bottom of the shell 1, the bottom radar 10 is used for detecting the vehicle blind area, and the bottom camera 8 is used for shooting the vehicle blind area, so that the detection and shooting information of the vehicle blind area are provided, and the driving safety is further guaranteed. Correspondingly, the combined sensing module further comprises a bottom radar cleaning nozzle 11 and a bottom camera cleaning nozzle 9 which are installed on the bottom surface of the shell 1 so as to clean the bottom radar cleaning nozzle and the bottom camera cleaning nozzle.
And, be provided with in casing 1 and wash the shower nozzle with the lateral part camera, top radar washs shower nozzle 5, bottom camera and wash the washing pipeline (not shown in the figure) that shower nozzle 9 and bottom radar wash shower nozzle 11 communicate respectively, wash the pipeline and be used for letting in the washing liquid or be used for letting in the washing liquid earlier, let in drying gas afterwards to conveniently provide the washing liquid to wasing the shower nozzle, and set up the washing pipeline in casing 1 is inside, whole more pleasing to the eye, and use safelyr.
In conclusion, the side camera cleaning nozzle, the top radar cleaning nozzle 5, the bottom camera cleaning nozzle 9 and the bottom radar cleaning nozzle 11 are integrated on the combined sensing module, so that the side camera, the top radar, the bottom camera and the bottom radar can be cleaned in time conveniently, the cleaning nozzles can be cleaned automatically as long as water sources are communicated, and the labor amount of manual cleaning is greatly reduced; and the cleaning nozzle is integrated on the combined sensing module, namely the vehicle, so that the cleaning nozzle can be controlled to work in time to clean the camera and the radar according to actual requirements, the normal use function of the combined sensing module is ensured, and the driving safety is further ensured.
In addition, the fan-shaped groove is arranged, so that the installation of the side camera cleaning spray head and the top radar cleaning spray head 5 is facilitated, and the influence of the additionally arranged cleaning spray heads on the normal shooting of the camera is avoided. Meanwhile, the bottom wall of each fan-shaped groove is gradually inclined downwards from inside to outside, so that the influence of the bottom wall of each fan-shaped groove on the shooting range of the camera is avoided, and meanwhile, the cleaning liquid can flow away conveniently and quickly.
In other embodiments of the combination sensing module, the first and second scallops may be identical in structure and size.
In other embodiments of the combination sensing module, the bottom wall of the scalloped groove may be flat.
In other embodiments of the combination sensing module, the cleaning pipeline communicated with each spray head is not arranged inside the shell, but arranged outside the shell.
In other embodiments of the combined sensing module, the bottom radar and the bottom camera do not need to be arranged, the bottom radar cleaning nozzle and the bottom camera cleaning nozzle do not need to be arranged at the moment, and the combined sensing module does not have the functions of blind area detection and shooting.
In other embodiments of the combined sensing module, the second nozzle may also be mounted on the bottom wall of the fan-shaped recess.
In other embodiments of the combined sensing module, the side camera cleaning nozzle does not include the second nozzle, and the side second camera can be cleaned by the first nozzle.
In other embodiments of the combination perceiving module, the side camera does not include the side second camera, and consists only of the side first camera.
In other embodiments of the combined sensing module, the edge of the protruding structure is not provided with an inclined surface, and the top radar cleaning nozzle can be arranged on the protruding structure through the bracket, so that the nozzle of the top radar cleaning nozzle is arranged obliquely upwards.
In other embodiments of the combined sensing module, the top radar cleaning nozzle may also be arranged side by side on the same circumference as the first nozzle.
In other embodiments of the combined sensing module, the number of the first nozzles is equal to the number of the first cameras on the side portion, and the first nozzles perform the jet cleaning one-to-one, that is, only one nozzle of the first nozzle is provided.
In other embodiments of the combination sensor module, the side camera cleaning spray heads may be mounted entirely on the raised structure, or entirely on the trough side walls of the scalloped recesses, or entirely on the trough bottom walls of the scalloped recesses.
The embodiment of the automatic driving vehicle in the invention is as follows: the automatic driving vehicle comprises a vehicle body and combined sensing modules arranged on the left side and the right side of the vehicle body, and the specific structure of the combined sensing modules is the same as that of the combined sensing modules in the embodiment, and the detailed description is omitted.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.
Claims (10)
1. A combined sensing module, comprising:
a housing (1);
one end of the top radar (2) is fixedly arranged in the shell (1), and the other end of the top radar penetrates out of the top of the shell (1);
the side cameras are arranged in plurality and are arranged in the shell (1);
the side wall of the shell (1) is provided with an exposure hole (1-1) for exposing the side camera, the shell (1) is also provided with a plurality of fan-shaped grooves for avoiding the shooting range of the side camera, each fan-shaped groove comprises two groove side walls arranged at a certain included angle and a groove bottom wall connected with the groove side walls, the exposure hole (1-1) is positioned at the intersection of the two groove side walls, and a convex structure (1-4) is formed between every two adjacent fan-shaped grooves;
the combined sensing module further comprises:
the side camera cleaning spray head is arranged on the protruding structure (1-4) and the side wall or the bottom wall of the groove, and is provided with a spray opening arranged towards the exposing hole (1-1);
the top radar cleaning nozzle (5) is installed on the protruding structures (1-4), and the top radar cleaning nozzle (5) is provided with a nozzle arranged towards the top radar (2).
2. The combined sensing module according to claim 1, wherein the side cameras comprise at least two side first cameras (3) arranged at intervals on the same circumference, the side camera cleaning spray head comprises a first spray head (4) arranged between two adjacent side first cameras (3), the first spray head (4) is mounted on the protruding structure (1-4) and the spray openings of the first spray head (4) are provided with two so as to clean the two side first cameras (3) at the same time.
3. The combined sensing module according to claim 2, characterised in that the top radar washing spray head (5) is located on the side of the first spray head (4) remote from the top radar (2).
4. The combined sensing module according to claim 3, wherein the edges of the protruding structures (1-4) are provided with inclined surfaces (1-5), and the top radar washing nozzle (5) is mounted on the inclined surfaces (1-5) such that the nozzle of the top radar washing nozzle (5) is arranged obliquely upwards.
5. The combined sensing module according to any of claims 2-4, wherein the side camera further comprises a side second camera (6), the side second camera (6) is located below the foremost side first camera (3), the side second camera (6) is a tele or wide camera, and the side first camera (3) is a mid-focus camera.
6. The combined sensor module according to claim 5, wherein the side camera cleaning nozzle further comprises a second nozzle (7) for cleaning the side second camera (6), and the second nozzle (7) is mounted on the side wall or the bottom wall of the fan-shaped groove of the side second camera (6).
7. The combined sensing module according to any one of claims 1 to 4, further comprising a bottom radar (10) and a bottom camera (8) mounted at the bottom of the housing (1), wherein the bottom radar (10) is used for detecting a vehicle blind area, and the bottom camera (8) is used for shooting the vehicle blind area; the combined sensing module further comprises a bottom radar cleaning nozzle (11) and a bottom camera cleaning nozzle (9) which are arranged on the bottom surface of the shell (1).
8. The combined sensing module according to claim 7, wherein the protruding structures (1-4) are integrally formed on the housing (1), and cleaning pipelines respectively communicated with the side camera cleaning nozzle, the top radar cleaning nozzle (5), the bottom camera cleaning nozzle (9) and the bottom radar cleaning nozzle (11) are arranged in the housing (1) and used for introducing cleaning liquid or cleaning liquid and drying gas.
9. The combined sensor module according to any one of claims 1-4, wherein the bottom wall of the fan-shaped groove is gradually inclined downwards from inside to outside.
10. An autonomous vehicle comprising a vehicle body and a combination sensor module mounted on the left and right sides of the vehicle body, wherein the combination sensor module is the same as the combination sensor module of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110791534.0A CN113561943A (en) | 2021-07-13 | 2021-07-13 | Combined sensing module and automatic driving vehicle using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110791534.0A CN113561943A (en) | 2021-07-13 | 2021-07-13 | Combined sensing module and automatic driving vehicle using same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113561943A true CN113561943A (en) | 2021-10-29 |
Family
ID=78164682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110791534.0A Pending CN113561943A (en) | 2021-07-13 | 2021-07-13 | Combined sensing module and automatic driving vehicle using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113561943A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180015908A1 (en) * | 2016-07-18 | 2018-01-18 | Uber Technologies, Inc. | Sensor cleaning system for vehicles |
| US20190184942A1 (en) * | 2017-12-18 | 2019-06-20 | Ford Global Technologies, Llc | Sensor assembly with cleaning system |
| CN110386112A (en) * | 2018-04-17 | 2019-10-29 | 福特全球技术公司 | Cleaning equipment for sensor |
| US20200033592A1 (en) * | 2018-07-24 | 2020-01-30 | Ford Global Technologies, Llc | Cleaning system for vehicle sensor |
| WO2020064885A1 (en) * | 2018-09-28 | 2020-04-02 | Valeo Systèmes d'Essuyage | Detection module for a motor vehicle driving assistance device |
| CN210653351U (en) * | 2019-10-23 | 2020-06-02 | 北京百度网讯科技有限公司 | Integrated roof structure and vehicle |
| CN111413688A (en) * | 2019-01-04 | 2020-07-14 | 福特全球技术公司 | Weak light sensor cleaning |
| CN211139202U (en) * | 2019-11-07 | 2020-07-31 | 北京京东乾石科技有限公司 | Sensor stacking structure, sensor suite and distribution vehicle |
| US20210025983A1 (en) * | 2019-07-25 | 2021-01-28 | Ford Global Technologies, Llc | Vehicle sensor assembly |
| CN112622830A (en) * | 2019-10-09 | 2021-04-09 | 福特全球技术公司 | Cleaning device for a sensor |
| CN213612183U (en) * | 2020-11-02 | 2021-07-06 | 福建富兰光学股份有限公司 | Laser radar outer surface hardening treatment device with top cover |
-
2021
- 2021-07-13 CN CN202110791534.0A patent/CN113561943A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180015908A1 (en) * | 2016-07-18 | 2018-01-18 | Uber Technologies, Inc. | Sensor cleaning system for vehicles |
| US20190184942A1 (en) * | 2017-12-18 | 2019-06-20 | Ford Global Technologies, Llc | Sensor assembly with cleaning system |
| CN110386112A (en) * | 2018-04-17 | 2019-10-29 | 福特全球技术公司 | Cleaning equipment for sensor |
| US20200033592A1 (en) * | 2018-07-24 | 2020-01-30 | Ford Global Technologies, Llc | Cleaning system for vehicle sensor |
| WO2020064885A1 (en) * | 2018-09-28 | 2020-04-02 | Valeo Systèmes d'Essuyage | Detection module for a motor vehicle driving assistance device |
| CN111413688A (en) * | 2019-01-04 | 2020-07-14 | 福特全球技术公司 | Weak light sensor cleaning |
| US20210025983A1 (en) * | 2019-07-25 | 2021-01-28 | Ford Global Technologies, Llc | Vehicle sensor assembly |
| CN112622830A (en) * | 2019-10-09 | 2021-04-09 | 福特全球技术公司 | Cleaning device for a sensor |
| CN210653351U (en) * | 2019-10-23 | 2020-06-02 | 北京百度网讯科技有限公司 | Integrated roof structure and vehicle |
| CN211139202U (en) * | 2019-11-07 | 2020-07-31 | 北京京东乾石科技有限公司 | Sensor stacking structure, sensor suite and distribution vehicle |
| CN213612183U (en) * | 2020-11-02 | 2021-07-06 | 福建富兰光学股份有限公司 | Laser radar outer surface hardening treatment device with top cover |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2019112055A (en) | Integrated automotive system, compact, low-profile nozzle assembly and compact fluidic circuit for cleaning wide-angle image sensor's exterior surface | |
| US11472375B2 (en) | Integrated multi image sensor and lens washing nozzle assembly and method for simultaneously cleaning a plurality of image sensors | |
| US20180288288A1 (en) | Integrated automotive system, pop-up nozzle assembly and remote control method for cleaning a wide-angle image sensor's exterior surface | |
| EP3224093B1 (en) | Integrated on-board vehicle vision and cleaning system | |
| EP2845773B1 (en) | Integrated automotive system, pop-up nozzle assembly and remote control method for cleaning a wide-angle image sensor's exterior surface | |
| CN109312765B (en) | Flow control system, jumper hose element and fluid flow management method | |
| KR102703752B1 (en) | Sensing apparatus | |
| JP2007508189A (en) | Cleaning device | |
| EP3872522B1 (en) | Lidar base, lidar device and autonomous vehicle | |
| CN112236689A (en) | Optical or optoelectronic device with cleaning device | |
| CN112284434A (en) | Sensor drainage system | |
| CN113561943A (en) | Combined sensing module and automatic driving vehicle using same | |
| CN215322461U (en) | Radar cleaner that stretches out and draws back | |
| CN212685441U (en) | Right side blind area BSD | |
| CN221068014U (en) | Sensor assembly and vehicle | |
| KR20240044176A (en) | Moisture prevention structure of sensor device | |
| CN216526294U (en) | Automobile surrounding environment detection device, automobile surrounding environment detection system and automobile | |
| CN216501010U (en) | Self-cleaning system of usher's lamp | |
| JP7409279B2 (en) | sensor unit | |
| CN219857395U (en) | Air deflector, air guide assembly and vehicle | |
| CN215971359U (en) | Vehicle body rear structure | |
| CN118220060A (en) | Vehicle assembly for sensor cleaning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |