CN208333454U - Sensor module and unmanned vehicle - Google Patents

Abstract

The utility model provides a kind of sensor module and unmanned vehicle.The sensor module of the utility model, it applies on unmanned vehicle, the sensor module includes binocular sensor, the binocular sensor includes two visual sensors for independently obtaining image, two visual sensors are located in the same vertical plane, and two visual sensors are between the upper and lower every setting and respectively close to the upper and lower ends of the unmanned vehicle.The utility model can be realized the normal ranging of binocular sensor, and will not be blocked by the structure of unmanned vehicle.

Description

Sensor module and unmanned vehicle

Technical field

The utility model relates to aircraft field more particularly to a kind of sensor modules and unmanned vehicle.

Background technique

With the continuous development of science and technology, the smart machines such as unmanned vehicle have more and more entered types of applications field In.

Currently, smart machine when executing task automatically, is needed by the sensing equipments such as visual sensor detection external rings Border.Wherein, there are two horizontally arranged and spaced video cameras due to gathering around for binocular sensor, thus using different location Visual difference between video camera obtains the three-dimensional geometric information of ambient enviroment or object to be detected, example by multiple image Such as the distance between smart machine and object, to carry out more comprehensive reliable sensor measuring.Wherein, binocular sensor Detection range is related with the spacing of two video cameras, in order to form farther away detection range, two video cameras should be allowed to keep farther out Interval.

However, these structures are in water since the horn of unmanned vehicle and propeller etc. are located at the side of unmanned vehicle It square is closer upwards with the video camera of binocular sensor, is easy that video camera is caused to block, obstacle is apart from larger.

Utility model content

The utility model provides a kind of sensor module and unmanned vehicle, can be realized the normal survey of binocular sensor Away from, and will not be blocked by the structure of unmanned vehicle.

In a first aspect, the utility model provides a kind of sensor module, apply on unmanned vehicle, sensor module packet Binocular sensor is included, binocular sensor includes two visual sensors for independently obtaining image, two visual sensor positions In in same perpendicular, two visual sensors are between the upper and lower every setting and respectively close to the upper and lower ends of unmanned vehicle.

Optionally, two visual sensors are respectively positioned on the longitudinally asymmetric face of unmanned vehicle.

Optionally, two visual sensors both face towards same direction.

Optionally, the optical axis of two visual sensors is parallel to each other.

Optionally, there is angle between the optical center connection and horizontal plane of two visual sensors.

Optionally, the optical center connection of two visual sensors is mutually perpendicular to horizontal plane.

Optionally, sensor module further includes supporting element, and supporting element is arranged on unmanned vehicle, and supporting element is for solid Determine visual sensor.

Optionally, it is flexibly connected between supporting element and the body of unmanned vehicle.

Optionally, sensor module further includes flexible connecting member, and flexible connecting member is connected to supporting element and unmanned vehicle Body between.

Optionally, supporting element includes fixed part, and fixed part is used to connect by the body of flexible connecting member and unmanned vehicle It connects.

Optionally, two visual sensors are separately positioned on the both ends of supporting element, and fixed position is in the middle section of supporting element.

Optionally, visual sensor further includes fixing piece, first through hole is provided on fixed part, it is logical that fixing piece passes through first The body of Kong Bingyu unmanned vehicle connects, and supporting element is fixed on the machine body.

Optionally, fixing piece has stopper section and interconnecting piece, and interconnecting piece is threaded through in first through hole and fixes with body, only Stopper backstop is on the outer end face of first through hole.

Optionally, interconnecting piece is rod-shaped, and the outer surface of interconnecting piece is provided with connection screw thread.

Optionally, flexible connecting member is flexible boot, and flexible boot has the second through-hole, and flexibility is set on first through hole It is interior, and the second through-hole and first through hole are coaxially disposed, fixing piece is fixed on the inside of flexible boot by the second through-hole, so that flexible boot Flexible connection is formed between supporting element and fixing piece.

Optionally, fixed part is provided with the card slot radially opened up along first through hole, and being provided on the outer wall of flexible boot can be with The card convex portion that card slot is mutually matched, when flexibility is set in first through hole, card convex portion is fastened in card slot.

Optionally, fixed part is even number, and fixed part is symmetrical arranged relative to supporting element.

Optionally, fixed part is two, and two fixed parts are symmetricly set on the left and right sides of supporting element.

Optionally, the first fixing groove for fixing visual sensor is provided on supporting element.

Optionally, flexible connecting member is silica gel part.

Optionally, sensor module further includes at least one additional sensor, at least one additional sensor is also set It sets on supporting element.

Optionally, in front of the detection direction orientation sensor component of binocular sensor, at least one additional sensor and The detection direction of binocular sensor is different.

Optionally, the second fixing groove for fixed at least one additional sensor is provided on supporting element, second is solid It is corresponding at least one additional sensor to determine slot.

Optionally, at least one additional sensor include it is following at least one: the first of orientation sensor component side Second sensor above sensor and orientation sensor component.

Optionally, the quantity of first sensor is two, and two first sensors are respectively directed to sensor module side Opposite sides.

Optionally, two first sensors are respectively directed to the left and right sides of sensor module.

Optionally, an additional sensor is monocular vision sensor, binocular vision sensor or flight time mould Group.

Second aspect, the utility model provide a kind of unmanned vehicle, including body and are set to the intracorporal institute as above of machine The sensor module stated.

Optionally, sensor module is located at the rear end of body.

Optionally, the binocular sensor in sensor module is arranged on the longitudinally asymmetric face of body.

Optionally, body has the cavity for accommodating sensor module, is offered in connection cavity on the shell wall of cavity First camera aperture of outer two sides, the first camera aperture match with binocular sensor.

Optionally, sensor module further includes at least one additional sensor, is also provided in connection cavity on body Outer two sides and the second camera aperture to match at least one additional sensor.

Optionally, unmanned plane during flying device further includes being set to the binocular sensor of body front end and/or being set to body bottom Binocular sensor, ultrasonic sensor or the infrared sensor in portion.

The sensor module and unmanned vehicle of the utility model, sensor module are applied on unmanned vehicle, sensing Device assembly includes binocular sensor, and binocular sensor includes two visual sensors, and two visual sensors are located at same vertical In plane, and two visual sensors are between the upper and lower every setting.Visual sensor and unmanned vehicle side in this way obtains propeller etc. The distance of structure farther out, can effectively reduce propeller and the camera lens visual angle of visual sensor is blocked, guarantee visual sensing The normal photographing and Image Acquisition of device.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property Under, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is the structural schematic diagram for the sensor module that the utility model embodiment one provides；

Fig. 2 is the partial enlargement diagram in Fig. 1 at A；

Fig. 3 is the perspective view of the explosion for the sensor module that the utility model embodiment one provides；

Fig. 4 is the structural schematic diagram of supporting element in the sensor module of the offer of the utility model embodiment one；

Fig. 5 is the structural schematic diagram of flexible boot in the sensor module of the offer of the utility model embodiment one；

Fig. 6 is a kind of structural schematic diagram for unmanned vehicle that the utility model embodiment two provides.

Description of symbols:

1-binocular sensor；2-bodies；3-sensors；4-horns；5-power suit；11,11a, 11b-vision Sensor；12-supporting elements；13-fixing pieces；14-flexible boots；21-threaded holes；22-the first camera aperture；23-the second mirror Head bore；31-first sensors；32-second sensors；121-the first fixing groove；122-fixed parts；123-the second is fixed Slot；131-stopper sections；132-interconnecting pieces；141-the second through-hole；142-card convex portions；1221-first through hole；1222-cards Slot；100-sensor modules；200-unmanned vehicles.

Specific embodiment

It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to The range of the utility model protection.

Fig. 1 is the structural schematic diagram for the sensor module that the utility model embodiment one provides.Fig. 2 is the office in Fig. 1 at A Portion's enlarged diagram.Fig. 3 is the perspective view of the explosion for the sensor module that the utility model embodiment one provides.Fig. 4 is that this is practical The structural schematic diagram of supporting element in the sensor module that new embodiment one provides.Fig. 5 is that the utility model embodiment one provides Sensor module in flexible boot structural schematic diagram.As shown in Figures 1 to 5, sensor module provided in this embodiment, application On unmanned vehicle, sensor module includes binocular sensor 1, and binocular sensor 1 includes two and independently obtains image Visual sensor 11 (i.e. 11a and 11b), two visual sensors 11 are located in the same vertical plane, and two visual sensings Device 11a and 11b are between the upper and lower every setting, and respectively close to the upper and lower ends of unmanned vehicle.

Specifically, needing to measure the distance between itself and peripheral obstacle when unmanned vehicle flight And judgement, the flight of unmanned vehicle is interfered to avoid because obstacle distance is excessively close, or even unmanned vehicle occur The phenomenon that knocking barrier.In order to be measured to the distance between unmanned vehicle and peripheral obstacle, on unmanned vehicle Sensor module can be set, and realized that ranging and avoidance etc. operate using sensor.The type of sensor for ranging There are many general, such as it usually can use ranging of the visual sensor realization to barrier.

It wherein, include binocular sensor 1 in sensor module in order to carry out ranging by visual sensor.Binocular passes Sensor can be shot and be detected to object respectively by two-way the visual sensor 11a and 11b of setting separated by a distance, Thus according to the distance between two visual sensors difference and differential seat angle, to taken by two-way visual sensor 11a and 11b Image carries out integrated treatment, and then the distance between subject and unmanned vehicle is calculated, to realize to object sky Between the accurate judgement of shape or distance.Wherein, typically camera of visual sensor 11 etc. can acquire picture image Sensor.

In order to allow unmanned vehicle to realize airflight, unmanned vehicle would generally be provided with horn and power suit, and By power be set in propeller generate power, realize landing and the normal flight of unmanned vehicle.However, horn and power Suit is normally at the two sides of unmanned vehicle, thus when visual sensor equally close to the two sides of unmanned vehicle when, horn With propeller may the camera lens visual angle to visual sensor 11 cause to block and cover, such visual sensor institute is collected It is incomplete image, influences whether the accurate judgement to the space characteristics of subject, causes dysmetria phenomenon.In order to The camera lens visual angle of visual sensor is avoided to be blocked by the other structures of unmanned vehicle, in the present embodiment, binocular sensor 1 is simultaneously Unconventional horizontal left and right settings, but allow two visual sensors 11a and 11b to be arranged on same vertical plane, and two views Sensor 11a and 11b are between the upper and lower every setting for feel, while visual sensor 11a and visual sensor 11b are respectively close to unmanned flight The upper and lower ends of device.At this point, two visual sensors are arranged one on the other, thus visual sensor 11a and visual sensor 11b Between can maintain a biggish spacing, with guarantee binocular sensor 1 have enough detection ranges；Meanwhile visual sensing Device 11 can be arranged in one band of central axes of the separate propeller of unmanned vehicle, the knot such as such visual sensor 11 and propeller The distance of structure farther out, can effectively reduce propeller and the camera lens visual angle of visual sensor 11 is blocked, guarantee visual sensing The normal photographing and Image Acquisition of device 11.

Wherein, in order to two visual sensors 11a and 11b allowing in binocular sensor 1 with the barrier structures such as propeller With larger distance, as an alternative embodiment, two visual sensors 11a and 11b can fly positioned at nobody On the longitudinally asymmetric face of row device.

In general, unmanned vehicle is generally symmetrical structure, to guarantee stationarity when flight, nobody flies in this way Row device in the longitudinal direction, that is, has the plane of symmetry in the direction of advance of unmanned vehicle, and the two of the plane of symmetry and unmanned vehicle The distance between horn and propeller of side are equal.Therefore, it is possible to by binocular sensor 1 visual sensor 11a and Visual sensor 11b is arranged on the longitudinally asymmetric face of unmanned vehicle.At this point, visual sensor 11 and unmanned vehicle Left and right side propeller all has equal distance, that is to say, that visual sensor 11 can be with any of unmanned vehicle Side propeller keeps equal spacing.It can be relatively easy to be inferred to, which is visual sensor 11 and nobody flies The retainable maximum distance of row device side propeller institute, and propeller is to the camera lens visual angle for being located at visual sensor 11 herein Block minimum.If visual sensor 11 is located at the other positions except the longitudinally asymmetric face, unmanned vehicle has side spiral shell The spacing revolved between paddle and visual sensor 11 is less than the maximum distance, and propeller also has biggish screening to camera lens visual angle at this time Gear.

Optionally, in order to realize the normal ranging of binocular sensor 1, two visual sensors 11a and 11b both face towards same Direction.Two such visual sensor is detected generally towards the same side of unmanned vehicle, and two visual sensors can To detect the object or scenery picture in the same direction, and using the difference between image acquired in two visual sensors and The object of the direction and the three-dimensional spatial information of scenery are obtained, to realize that subsequent ranging etc. operates.

Wherein, visual sensor 11a can be identical with the optical axis direction of visual sensor 11b, can also maintain Certain angle.In a kind of wherein optional mode, the optical axis of two visual sensors 11 is parallel to each other.Two such vision Image angle acquired in sensor 11 is consistent, and distinguish be only that between two visual sensors 11 have it is certain away from Deviation can simplify subsequent image processing process in this way, facilitate fast and reliable acquisition unmanned vehicle and object under test The distance between information.

In addition, vision can be enabled to pass when the visual sensor 11 in binocular sensor 1 is located in the same perpendicular Sensor 11 can detect different height towards the different directions in perpendicular, such binocular sensor 1.Wherein may be used Choosing, can allow the optical center connection between two visual sensors 11a and 11b and between horizontal plane have angle.

Specifically, the optical center of visual sensor 11, the geometric center position of optical mirror slip generally in visual sensor 11. When the optical center connection of two visual sensors 11a and 11b are not parallel with horizontal plane, but have one between horizontal plane When clamp angle, then the direction that the two visual sensors are faced at this time also would not be above or below sensor module, But it is tilted to horizontal direction.In this way binocular sensor 1 can the object to side carry out detection and ranging.And binocular sensor The direction that visual sensor 11 is faced in 1 can be determined by the size of angle between optical center connection and horizontal plane.

Further, the set-up mode as one of visual sensor, visual sensor 11a and visual sensor Orthogonal angle can be kept between the optical center connection and horizontal plane of 11b.At this point, visual sensor 11 be not only located at it is same In perpendicular, and the position along the vertical direction of two visual sensors is overlapped.Visual sensor 11a in this way and The optical center connection of 11b along vertical direction, and visual sensor 11 towards direction be horizontal direction, can detect in this way Object positioned at the horizontal front of binocular sensor 1, so that the ranging under completing most of state of flights of unmanned vehicle is appointed Business.

In order to connect and fix visual sensor 11, as a kind of optional structure, can also include in sensor module Supporting element 12, supporting element 12 are arranged on unmanned vehicle, and supporting element 12 is for fixing visual sensor 11.Work as sensing in this way When device assembly is fixed on the body 2 of unmanned vehicle, since visual sensor 11 is arranged on supporting element 12, as long as so handle Supporting element 12 is fixed on body 2, and the positioning of sensor module can be realized.

Specifically, in order to which visual sensor 11 to be fixed on supporting element 12, in a kind of wherein optional mode, support The first fixing groove 121 for fixing visual sensor can be set on part 12.Visual sensor 11 can be accommodated in this way It is fixed in the first fixing groove 121.Wherein, the first fixing groove 121 can have the shape phase with visual sensor 11 Mutual matched shape, such as the first fixing groove 121 can be formed as a side opening, and the closed cavity in the other side, by vision Sensor 11 is housed among the cavity.

Specifically, due between two visual sensors 11a and 11b relative position and relative angle be required to guarantee compared with High precision, thus supporting element 12 is usually an independent structural member, the rigidity that can use supporting element 12 itself in this way is complete At the positioning of visual sensor 11, and make between two visual sensors 11a and 11b have more accurate relative position and Relative angle.

In addition, in order to avoid the deformation that influence 12 relative position of visual sensor occurs for supporting element 12 itself, supporting element 12 It can be usually made of the biggish material of rigidity, such as supporting element 12 can be made of metal materials such as aluminium alloys.

When supporting element 12 is fixed on the body 2 of unmanned vehicle, generally can be either threadedly coupled using clamping Etc. fixed forms.At this point, between supporting element 12 and body 2 would generally be because of assembly when generated stress (threaded connection is answered The stress that power or clamping generate when contradicting) and certain displacement or deformation are generated, the displacement and deformation influence whether supporting element 12 in itself, allow supporting element 12 to generate certain deformation, to change opposite between two visual sensors 11 on supporting element 12 Position and angle.Meanwhile unmanned vehicle generated normal flight vibration in flight also can pass to support by body 2 Part 12 makes the visual sensor 11 on supporting element 12 be vibrated influence.Thus in order to avoid because of erection stress or body 2 Airborne vibration and to adverse effect caused by visual sensor 11, it is ensured that the reliable accurately work of binocular sensor 1, it is optional , it is flexibly connected between the body 2 of the supporting element 12 in sensor module and unmanned vehicle.Pass through flexible connection side in this way Formula, it is possible to reduce the erection stress of supporting element 12, and filter the vibration from body 2 allows on supporting element 12 vision fixed Accurate relative position and angle are kept between sensor 11.

Specifically, flexible connection can be accomplished in several ways between supporting element 12 and body 2, e.g. supporting element 12 Vibration-damped component or vibration-proof structure etc. can be set between body 2.As one of flexible connection mode, sensor It can also include flexible connecting member in component, flexible connecting member is connected between supporting element 12 and the body 2 of unmanned vehicle.

Specifically, flexible connecting member itself can generate certain elastic deformation, so as to be supported by elastic deformation Disappear and absorbs a part of erection stress, or the airborne vibration from body 2.In general, in order to allow flexible connecting member to produce Raw elastic deformation, flexible connecting member, which can have, can produce elastically-deformable structure or itself is made of flexible material.

And in order to be fixed on body 2 by flexible connecting member, optionally, supporting element 12 generally may include fixed part 122, fixed part 122 is used to connect by the body 2 of flexible connecting member and unmanned vehicle.Specifically, fixed part 122 can be Protrude from the positioning groove opened up on the projective structure or supporting element on support body surface or accommodating cavity etc..In this way Flexible connecting member can be mounted on supporting element by fixed part 122, and incorporating mill body 2 realizes connection.

Specifically, as supporting element and one of set-up mode of fixed part, two visual sensors 11a and 11b The both ends of supporting element 12 can be separately positioned on, and fixed part 122 is located at the middle section of supporting element 12.At this point, supporting element 12 can be with In fixed beam or the shapes such as fixed link with certain length, and two visual sensors 11 are respectively arranged at supporting element 12 Upper and lower ends, and the fixed part 122 at 12 middle part of supporting element can be connected by flexible connecting member with the body 2 of unmanned vehicle, Fixed point in this way between supporting element 12 and body 2 is located at the middle section of the length direction of supporting element 12, and supporting element 12 itself from The longitudinal direction of body 2 crosses over the two sides up and down of fixed point.Thus fixed point two sides stress is more balanced, and supporting element 12 will not be sent out Raw wave waits offset phenomenas.

And in order to improve the connection structure intensity between the stability of strutting system of supporting element 12 and supporting element 12 and body 2, Optionally, fixed part 122 is even number, and fixed part 122 is symmetrical arranged relative to supporting element 12.In this way by multiple fixed parts 122 are symmetrical arranged, and can will be distributed on different fixed parts 122 from the gravity of supporting element 12, and between fixed part 122 Stress is more uniform, and supporting element 12 is made to obtain reliably supporting and positioning.

And in the present embodiment, can allow fixed part 122 is two, and two fixed parts 122 are symmetricly set on supporting element 12 The left and right sides.Two such fixed part 122 can realize connection with body 2, and since fixed part 122 is separately positioned on branch 12 two sides of support member, thus the center of gravity for two visual sensors 11 being vertically arranged on supporting element 12 be located at two fixed parts 122 it Between, reliable support and positioning can be formed to supporting element 12 in this way, avoids supporting element 12 from unbalance stress and skew etc. occur existing As.

When supporting element 12 is connect by fixed part 122 with the body 2 of unmanned vehicle, optionally, in sensor module Can also include fixing piece 13, be provided with first through hole 1221 on fixed part 122, fixing piece 13 pass through first through hole 1221 and with The body 2 of unmanned vehicle connects, and supporting element 12 is fixed on body 2.

Specifically, the direction of first through hole 1221 usually can along the vertical direction or horizontal direction, and fixing piece 13 Shape can be mutually matched with the shape of first through hole 1221 and aperture, after such fixing piece 13 passes through first through hole 1221, The cooperation between fixing piece 13 and the hole wall of first through hole 1221 and the connection between fixing piece 13 and body 2 will be utilized And it realizes relatively fixed between 2 three of fixing piece 13, fixed part 122 and body.

Wherein, when fixing piece 13 is connect with body 2, fixing piece 13 and machine can be realized by screw thread or snap-in structure Being detachably connected between body 2, in order to carry out the maintenance and replacement of sensor module.

Fixing piece 13 is deviate from from first through hole 1221 in order to prevent, and optionally, fixing piece 13 specifically can have backstop Portion 131 and interconnecting piece 132, wherein interconnecting piece 132 is threaded through in first through hole 1221 and fixes with body 2, and stopper section 131 Backstop is on the outer end face of first through hole 1221.In this way after interconnecting piece 132 and body 2 are relatively fixed, stopper section 131 can be kept off The outside of fixed part 122 is deviate from from first through hole 1221 to avoid fixing piece 13.

Wherein, for the ease of connecting with body 2, optionally, interconnecting piece 132 is rod-shaped, and the outer surface of interconnecting piece 32 is set It is equipped with connection screw thread.Interconnecting piece 32 can penetrate in first through hole 1221 in this way, and connect by connection screw thread and body 2.And Correspondingly, usually offering the threaded hole 21 being mutually matched with interconnecting piece 132 on body 2.

In addition, in order to form reliable backstop, stopper section 131 typically cover shape or pie, at this point, stopper section 131 can form biggish contact surface between the outer end face of first through hole 1221, while the bulge size of stopper section 131 is more It is compact.

And the above-mentioned possible fixed form between supporting element 12 and body 2 is adapted to, flexible connecting member can also have phase The structure and shape answered.As the optional embodiment of one of which of flexible connecting member, flexible connecting member is flexible boot 14, and Flexible boot 14 has the second through-hole 141, and flexible boot 14 is arranged in first through hole 1221, and the second through-hole 141 and first through hole 1221 coaxial arrangements, fixing piece 13 is fixed on 14 inside of flexible boot by the second through-hole 141, so that flexible boot 14 is in supporting element 12 Flexible connection is formed between fixing piece 13.

Specifically, flexible boot 14 is usual itself to have elasticity, the material that can generate certain deformation is formed, so when the external world Active force and vibration when being applied in flexible boot 14, flexible boot 14 can be absorbed or be filtered by the deformation of itself, and When active force and vibration are eliminated, flexible boot 14 can be restored by natural resiliency.In above-mentioned fixed form, flexible boot 14 can cover between fixing piece 13 and the hole wall of first through hole 1221, and the fixed part of flexible boot 14 outer wall and supporting element 12 122 connections, and 141 hole wall of the second through-hole of flexible boot 14 is connect with fixing piece 13, thus the assembly on fixing piece 13 The flexible boot 14 that stress and body vibration can be enclosed in 13 outside of fixing piece is absorbed, and is reduced suffered by supporting element 12 It influences.

When flexible boot 14 is arranged in first through hole 1221, flexible boot 14 itself and first through hole can be usually relied on Frictional force between 1221 hole walls realizes positioning of the flexible boot 14 in 1221 axial direction of first through hole.And when unmanned vehicle is long-term When generating biggish vibration when use or unmanned vehicle flight, flexible boot 14 may be skidded off from first through hole 1221, Influence the normal flexible connection between supporting element 12 and fixing piece 13.In order to reinforce the positioning to flexible boot 14.Optionally, Gu Determine portion 122 and be provided with the card slot 1222 radially opened up along first through hole 1221, being provided on the outer wall of flexible boot 14 can be with card slot The 1222 card convex portions 142 being mutually matched, when flexible boot 14 is arranged in first through hole 1221, card convex portion 142 is fastened on card slot In 1222.

Specifically, since flexible boot 14 itself can generate elastic deformation, thus can be relatively easy to be assemblied in first In through-hole 1221, and it is fastened on the card convex portion 142 on 14 outer wall of flexible boot in card slot 1222.In this way by card slot 1222, Gu Determining portion 122 can be completed fixation on axial direction to flexible boot 14.

Wherein, the quantity and shape in card slot 1222 and card convex portion 142 can there are many, such as card slot 1222 can be One or more, and the opposite sides on fixed part 122 can be set in multiple card slots 1222, or along first through hole 1221 axially spaced-apart arrangement etc..And card convex portion 142 can be for along the protrusion or elastic card of 1221 radially protruding of first through hole Pawl etc..Alternatively, card slot 1222 and card convex portion 142 also can have other number and shape well-known to those skilled in the art, Details are not described herein again.

In general, flexible boot 14 or other flexible connecting members can be the integral type element that is supported by flexible material, Such as can allow flexible connecting member is silica gel part.Silica gel has preferable elasticity and recovery capacity, while having preferable chemistry Stability and corrosion resistance are adapted to the working environment of unmanned vehicle, the body 2 of supporting element 12 and unmanned vehicle it Between form reliable flexible connection.

In addition, can stay certain free gap when the supporting element 12 to be fixed on body 2, so may make and work as When by external impacts, supporting element 12 is entire movable together, and it is larger not will cause the relatively-stationary position distortions in hanging position The case where.

In sensor module, binocular sensor 1 is only able to achieve the ranging task in a direction of unmanned vehicle.And it is Realize the detection and ranging of unmanned vehicle in other directions, usual unmanned vehicle also needs other sensors are arranged. In a kind of optional embodiment, in order to carry out the range operation on other directions, sensor module can also include additional At least one sensor 3, at least one additional sensor 3 is also disposed on supporting element 12.

It can also include that other can be used for ranging task or other detection missions specifically, in sensor module Sensor 3.Wherein similar with binocular sensor 1, these sensors 3 may be also needed with more accurate and stable phase To position, thus these additional sensors 3 also can be set on supporting element 12, and realize this using the supporting element 12 of rigidity A little sensors 3 stablize support and accurate positioning, ensure that sensor 3 can be realized the detection missions such as accurate ranging.

Common, the functions of these additional sensors 3 including but not limited to carries out ranging task, herein for convenient for saying It is bright, it is illustrated so that these additional sensors 3 are for the sensor of ranging as an example.

Optionally, in order to make sensor module execute the ranging in multiple directions, the detection direction of binocular sensor 1 is directed toward In front of sensor module, and at least one additional sensor 3 is different with the detection direction of binocular sensor 1.It is additional in this way Sensor 3 can be realized the detection mission with binocular sensor 1 in different directions, fly to complete unmanned vehicle When, ranging and avoidance operation in multiple directions.

Wherein, in order to which other additional sensors 3 are fixed on supporting element, as a kind of optional fixed form, branch The second fixing groove 123 for fixed at least one additional sensor 3, the second fixing groove 123 and volume are provided in support member 12 At least one outer sensor 3 is corresponding.Wherein the specific structure of the second fixing groove 123 and shape be and additional sensor phase Match, additional sensor 3 is accommodated and is fixed therein.The general and additional sensor 3 of the quantity of second fixing groove 123 Quantity is identical, so that additional sensor 3 to be fixed among the second fixing groove 123 correspondingly.

Specifically, at least one additional sensor 3 may include following at least one in order to be detected to different directions Person: the first sensor 31 of orientation sensor component side and the second sensor 32 above orientation sensor component.Such volume Outer sensor 3 can carry out the detections such as ranging operation to sensor module side and the top of sensor module, thus and Binocular sensor 1 in front of orientation sensor component forms complementary search coverage, effectively expands ranging and avoidance range.

On that basi of the above embodiments, as further optional embodiment, the quantity of first sensor 31 can be with It is two, and two first sensors 31 are respectively directed to the opposite sides of sensor module side.It is set in this way, detection direction is opposite Two first sensors 31 set can respectively detect two sides of sensor module, with provide biggish ranging and Avoidance range.Two such first sensor 31 can cooperate with binocular sensor 1, to cover sensor module circumferential direction On about 270 ° of investigative range.Specifically, two first sensors can be respectively directed to the left and right sides of sensor module.

In addition, optional, first sensor 31 can also be provided only on the side of sensor module, to execute sensor group The unilateral detection mission of part.

In order to allow additional sensor 3 to execute the detection missions such as ranging, optionally, additional sensor 3 is monocular vision Sensor, binocular vision sensor or flight time (Time of flight, TOF) mould group etc..Wherein, monocular vision senses Device and binocular vision sensor can be obtained by collected visual pattern between sensor module and object under test away from From.The difference is that monocular vision sensor is that the image change of object under test realizes survey when mobile using unmanned vehicle Away from, and binocular vision sensor is then to carry out ranging using the visual angle difference between two different visual sensors.And when flight Between mould group then generally use flight time telemetry carry out ranging, specially on one side issue infrared acquisition light, receive warp on one side The probing light of object under test reflection is crossed to obtain the distance between object under test.Above-mentioned additional sensor can be according to nothing The structure space of people's aircraft selects different type using needs.Such as it is common, first sensor 31 is generally single Mesh visual sensor or binocular vision sensor, and second sensor 32 usually selects flight time mould group etc..

In the present embodiment, sensor module is applied on unmanned vehicle, and sensor module includes binocular sensor, binocular Sensor includes two visual sensors, and two visual sensors are located in the same vertical plane, and in two visual sensors Lower interval setting.Visual sensor and unmanned vehicle side in this way obtains the isostructural distance of propeller farther out, can effectively subtract Few propeller blocks the camera lens visual angle of visual sensor, guarantees the normal photographing and Image Acquisition of visual sensor.

Fig. 6 is a kind of structural schematic diagram for unmanned vehicle that the utility model embodiment two provides.As shown in fig. 6, this The unmanned vehicle 200 that embodiment provides, the sensor module 100 for specifically including body 2 and being set in body 2.Wherein, it passes Specific structure, function and the working principle of sensor component 100 have been described in detail in previous embodiment one, herein not It repeats again.

Specifically, unmanned vehicle 200 other than body 2, further includes having horn 4 and being arranged in dynamic on horn 4 The component parts such as power suit 5.Sensor module 100, the binocular sensor etc. in sensor module 100 are provided on body 2 Part can carry out the detection missions such as ranging, guarantee normal, the safe flight and landing operation of unmanned vehicle 200.

Wherein, since the front end of the body 2 of unmanned vehicle 200 is usually provided with holder and camera assembly etc., thus can Choosing, sensor module 100 is located at the rear end of body 2.Sensor module 100 is mainly useful to unmanned vehicle in this way 200 rear carries out the detection missions such as ranging, and unmanned vehicle 200 is made smoothly to realize the flight operations such as the avoidance at rear.

Because the whole bilateral symmetry that is generally of unmanned vehicle 200 is laid out, thus can be by pair in sensor module 100 Mesh sensor is arranged on the longitudinally asymmetric face of body 2.The visual sensor being vertically arranged in binocular sensor in this way and nobody Two sides (horn 4 and power suit 5) distance of aircraft 200 is equal, and is the maximum distance that can be realized, thus vision The camera lens visual angle of sensor is blocked smaller by propeller is isostructural in horn 4 and power suit 5, can be improved ranging Accuracy and reliability.

Specifically, in order to accommodate sensor module 100, and sensor module 100 is worked normally, optionally, nobody flies The body 2 of row device 200 has the cavity for accommodating sensor module 100, is offered inside and outside connection cavity on the shell wall of cavity First camera aperture 22 of two sides, the first camera aperture 22 match with the binocular sensor in sensor module 100.At this point, entire Sensor module 100 can be protected by body 2, and ambient can enter sensor module by the first camera aperture 22 Binocular sensor in 100 makes binocular sensor carry out normal Image Acquisition.

In addition, when sensor module 100 further includes at least one additional sensor, in order to allow additional sensor just Often work is also provided with second to match inside and outside connection cavity and at least one additional sensor on body 2 Camera aperture 23.At this point, additional sensor can execute detection mission by the second camera aperture 23.In general, the second camera lens The position and end of probe size of the position in hole 23 and the equal and additional sensor of size match.

And in order to further increase the safety and reliability of the flight of unmanned vehicle 200, or the other detections times of completion Business, unmanned vehicle 200 can also include being set to the binocular sensor of 2 front end of body, and be set to the double of 2 bottom of body Mesh sensor, ultrasonic sensor or infrared sensor etc..Wherein, be set to 2 front end of body binocular sensor and setting with Binocular sensor, ultrasonic sensor or the infrared sensor of 2 bottom of body can use simultaneously, can also selectively pacify Dress and use.

In the present embodiment, unmanned vehicle specifically includes body and is set to the intracorporal sensor module of machine；Wherein sense Device assembly specifically includes binocular sensor, and binocular sensor includes two visual sensors, and two visual sensors are located at same In perpendicular, and two visual sensors are between the upper and lower every setting.Visual sensor and unmanned vehicle side in this way obtains spiral Paddle isostructural distance farther out, can effectively reduce propeller and the camera lens visual angle of visual sensor is blocked, guarantee vision The normal photographing and Image Acquisition of sensor.

Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new The range of each embodiment technical solution of type.

Claims (15)

1. a kind of sensor module, is applied on unmanned vehicle, which is characterized in that the sensor module includes binocular sensing Device, the binocular sensor include two visual sensors for independently obtaining image, and two visual sensors are located at In same perpendicular, two visual sensors are between the upper and lower every setting and respectively close to up and down the two of the unmanned vehicle End.

2. sensor module according to claim 1, which is characterized in that two visual sensors are respectively positioned on the nothing On the longitudinally asymmetric face of people's aircraft.

3. sensor module according to claim 1 or 2, which is characterized in that the optical center of two visual sensors connects There is angle between line and horizontal plane.

4. sensor module according to claim 1 or 2, which is characterized in that it further include supporting element, the supporting element setting On the unmanned vehicle, and the supporting element is for fixing the visual sensor.

5. sensor module according to claim 4, which is characterized in that the machine of the supporting element and the unmanned vehicle It is flexibly connected between body；

The sensor module further includes flexible connecting member, the flexible connecting member be connected to the supporting element and it is described nobody fly Between the body of row device.

6. sensor module according to claim 5, which is characterized in that the supporting element includes fixed part, the fixation Portion is used to connect by the flexible connecting member with the body of the unmanned vehicle.

7. sensor module according to claim 6, which is characterized in that further include fixing piece, be arranged on the fixed part There is first through hole, the fixing piece passes through the first through hole and connect with the body of the unmanned vehicle, by the branch Support member is fixed on the body.

8. sensor module according to claim 7, which is characterized in that the flexible connecting member is flexible boot, and described Flexible boot has the second through-hole, and the flexibility is set in the first through hole, and second through-hole leads to described first Hole coaxial arrangement, the fixing piece is fixed on the inside of the flexible boot by second through-hole, so that the flexible boot is in institute It states and forms flexible connection between supporting element and the fixing piece.

9. sensor module according to claim 8, which is characterized in that the fixed part is provided with along the first through hole The card slot radially opened up is provided with the card convex portion that can be mutually matched with the card slot, shown flexibility on the outer wall of the flexible boot When being set in the first through hole, the card convex portion is fastened in the card slot.

10. sensor module according to claim 5, which is characterized in that further include at least one additional sensor, institute At least one additional sensor is stated to be also disposed on the supporting element.

11. sensor module according to claim 10, which is characterized in that the detection direction of the binocular sensor is directed toward In front of the sensor module, described at least one additional sensor is different with the detection direction of the binocular sensor.

12. sensor module described in 0 or 11 according to claim 1, which is characterized in that described at least one additional sensor Including it is following at least one: be directed toward the first sensor of the sensor module side and be directed toward above the sensor module Second sensor.

13. sensor module described in 0 or 11 according to claim 1, which is characterized in that an additional sensor is single Mesh visual sensor, binocular vision sensor or TOF mould group.

14. a kind of unmanned vehicle, which is characterized in that appoint including body with the intracorporal such as claim 1-13 of the machine is set to Sensor module described in one.

15. unmanned vehicle according to claim 14, which is characterized in that the sensor module is located at the body Rear end.