CN209895186U

CN209895186U - Sensing system for automatic driving and automobile

Info

Publication number: CN209895186U
Application number: CN201920514935.XU
Authority: CN
Inventors: 周自成; 王庆锋; 章健勇; 张建坤
Original assignee: NIO Co Ltd
Current assignee: NIO Co Ltd
Priority date: 2019-04-16
Filing date: 2019-04-16
Publication date: 2020-01-03
Anticipated expiration: 2029-04-16

Abstract

A perception system for automatic driving and an automobile, the perception system for automatic driving comprising: the device comprises a support frame, a first laser radar, a camera and a GPS; the first laser radar, the camera and the GPS are arranged on the support frame; and a connecting piece used for being connected with a vehicle body is arranged at the bottom of the support frame. The sensing system for automatic driving is arranged on the roof of the vehicle through the connecting piece, and the original vehicle does not need to be greatly changed; in the using process, multi-view and multifunctional cooperative work is realized through the laser radar, the camera and the GPS, and data support is provided for automatic driving.

Description

Sensing system for automatic driving and automobile

Technical Field

The utility model relates to an automobile automatic driving technical field specifically is an automatic driving uses perception system and is provided with this perception system's car.

Background

The automatic driving automobile is also called unmanned automobile and computer driving automobile, and is one intelligent automobile with unmanned driving realized via computer system. Autonomous vehicles have the ability to sense the environment, plan routes, and control vehicle motion, allowing computers to operate motor vehicles automatically.

When the automatic driving automobile autonomously runs, the surrounding environment needs to be sensed, and then a behavior decision is made according to the obtained environment information. The environment perception capability is a precondition for realizing automatic driving, and automatic driving can be realized only by accurately and quickly perceiving the environment around the automobile.

In the automatic driving development process, a plurality of sensors are required to be cooperatively used. Thus, how to arrange various sensors on the vehicle becomes a problem to be solved first.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a perception system is used in autopilot that can install on the roof.

In order to solve the above problem, the utility model provides an automatic perception system is used in driving, include: the device comprises a support frame, a first laser radar, a camera and a GPS;

the first laser radar, the camera and the GPS are arranged on the support frame;

and a connecting piece used for being connected with a vehicle body is arranged at the bottom of the support frame.

The utility model has the advantages that: the sensing system for automatic driving is arranged on the roof of the vehicle through the connecting piece, and the original vehicle does not need to be greatly changed; in the using process, multi-view and multifunctional cooperative work is realized through the laser radar, the camera and the GPS, and data support is provided for automatic driving.

Furthermore, the connecting pieces are multiple and are uniformly distributed at the bottom of the supporting frame.

The beneficial effect of adopting the further scheme is that: because the car is very fast when the operation to need acceleration and deceleration from time to time in the operation process, can fix firmly with laser radar, camera and GPS on support frame and the support frame through the connecting piece of a plurality of equipartitions.

Further, still include first angle adjusting device, first laser radar passes through first angle adjusting device installs on the support frame.

The beneficial effect of adopting the further scheme is that: the angle of the first laser radar can be adjusted through the first angle adjusting device, so that the adaptability of the first laser radar is improved.

Further, the first angle adjusting device comprises two first telescopic devices and a first base; the two first telescopic devices are arranged at intervals; one end of the first telescopic device is connected with the support frame in a sliding mode, and the other end of the first telescopic device is connected with the first base; the first laser radar is mounted on the first base.

The beneficial effect of adopting the further scheme is that: the angle of the first laser radar is adjusted through the difference of the telescopic lengths of the two first telescopic devices, and the adjustment is convenient.

Further, the first telescopic device comprises a support rod, a ball bolt and a nut; one end of the supporting rod is connected with the supporting frame in a sliding mode, and a threaded hole is formed in the other end of the supporting rod along the length direction of the supporting rod; the ball stud is screwed in the threaded hole; the spherical head of the ball stud is clamped in the nut; the nut is clamped with the first base.

The beneficial effect of adopting the further scheme is that: the telescopic action is realized by rotating the ball head bolt, and the use is convenient and quick; and the structure is simple, and the processing and the manufacturing are easy.

Further, still include the second laser radar, the second laser radar is installed the one end of support frame.

Further, the laser radar device comprises a second angle adjusting device, and the second laser radar is installed on the supporting frame through the second angle adjusting device.

Furthermore, the second angle adjusting device comprises a second telescopic device and a second base, one end of the second base is rotatably connected with the supporting frame, and the other end of the second base is connected with the supporting frame through the second telescopic device; the second laser radar is mounted on the second base.

The beneficial effect of adopting the further scheme is that: the angle of the second laser radar can be adjusted through the second angle adjusting device, so that the adaptability of the second laser radar is improved.

Further, the device also comprises an outer shell cover; the shell cover is sleeved on the outer side of the support frame;

the GPS, the camera, the first laser radar and the connecting piece are positioned on the outer side of the outer housing cover.

The utility model provides an automobile is provided with as above-mentioned arbitrary technical scheme perception system for autopilot.

Drawings

Fig. 1 is a first schematic structural diagram of the automatic driving sensing system of the present invention;

FIG. 2 is a schematic diagram of a second structure of the automatic driving sensing system of the present invention;

fig. 3 is a schematic structural diagram of the first angle adjusting device according to the present invention in one state;

FIG. 4 is a schematic structural diagram of the first angle adjusting device of the present invention in another state

Fig. 5 is a schematic structural diagram of a second angle adjusting device according to the present invention.

Reference numerals:

1. the device comprises a support frame, 2, a first laser radar, 3, a camera, 4, a GPS, 5, a second laser radar, 6, a connecting piece, 7, a first angle adjusting device, 8, an outer shell cover, 9, a second angle adjusting device, 10, a rotating shaft, 11 and a sleeve;

71. a first telescoping device 72, a first base;

711. support rods 712, ball bolts 713, nuts 714 and right-angle corner connectors;

91. screw rod, 92, regulating plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

First embodiment

Fig. 1 is a first schematic structural diagram of the sensing system for automatic driving of the present invention. In order to show the support 1 in the figures, a part of the housing cover 8 is illustrated in the figures.

As shown in fig. 1, a sensing system for automatic driving comprises a support frame 1, a first laser radar 2, a camera 3 and a GPS 4; the first laser radar 2, the camera 3 and the GPS4 are arranged on the support frame 1; the bottom of the support frame 1 is provided with a connecting piece 6 used for being connected with a vehicle body.

Specifically, the support frame 1 is made of an aluminum profile. As shown in the drawings, in the present embodiment, the supporting frame 1 is a rectangular frame.

A plurality of connecting pieces 6 are arranged at the bottom of the support frame 1. Specifically, the connecting piece 6 is fixedly connected with the bottom of the support frame 1 by welding or fastening pieces.

In a preferred embodiment, there are four connecting members 6, and four connecting members 6 are respectively disposed near four top corners of the supporting frame 1.

In a preferred embodiment, the connecting member 6 is in a zigzag structure, the top of the connecting member is connected with the bottom of the support frame 1, and through holes which can be cylindrical holes or threaded holes are formed in two claws at the bottom of the connecting member 6 and are used for connecting the bottom of the connecting member 6 with the top of the vehicle body through a fastening member.

The connecting member 6 may be made of a metal material such as an aluminum plate, a stainless steel plate; it can also be made of non-metallic materials, such as rigid plastics.

In order not to influence the work of first laser radar 2 when using, the higher some of first laser radar 2's position setting are better, and in order to improve first laser radar 2's adaptability, satisfy the object of the different angles of sensing simultaneously, in this embodiment, first angle adjusting device 7 has been add again. The first laser radar 2 is arranged on the top of the support frame 1 through a first angle adjusting device 7.

As shown in fig. 3 and 4, in particular, the first angle adjusting means 7 includes two first telescoping means 71 and a first base 72. Two first telescoping devices 71 are arranged at intervals, the bottom ends of the two first telescoping devices are connected with the support frame 1 in a sliding mode, the top ends of the two first telescoping devices are connected with the first base 72, and the first laser radar 2 is installed on the first base 72.

In a preferred embodiment, the first expansion device 71 comprises a strut 711, a ball stud 712 and a nut 713; the supporting rod 711 is vertically arranged, the bottom end of the supporting rod 711 is connected with the supporting frame 1 in a sliding mode, and an internal threaded hole is formed in the top end of the supporting rod 711 and extends towards the bottom end of the supporting rod 711 along the length direction of the supporting rod 711; the screw 91 of the ball stud 712 is screwed into the internally threaded hole; a spherical groove matched with the spherical head of the ball stud 712 is formed in the nut 713; the ball head of the ball stud 712 snaps into the nut 713; the nut 713 is clamped to the first base 72.

Specifically, the top of the support frame 1 is provided with a sliding groove, the bottom end of each supporting rod 711 is fixedly connected with a right-angle edge of one right-angle corner connector 714, the bottom end of each supporting rod can be welded, and the other right-angle edge of the right-angle corner connector 714 is slidably clamped in the sliding groove.

The first base 72 may be a metal plate, and the first laser radar 2 may be bolted to the first base 72.

The nut 713 and the first base 72 are clamped specifically as follows: the side surface of the nut 713 is provided with a connecting protrusion, the bottom surface of the connecting protrusion is provided with a clamping protrusion, and the connecting protrusion is fixedly connected with the nut 713. Be provided with the joint hole with nut 713 and joint protruding adaptation on first base 72, when joint protruding and joint hole adaptation card was fashionable, nut 713 can not rotate on first base 72.

When the angle of the first laser radar 2 is adjusted specifically, the ball stud 712 can be rotated to extend or retract the ball stud 712 into the internal thread hole of the supporting rod 711 to adjust the length of the ball stud 712, meanwhile, the right-angle corner code 714 slides in the sliding groove to adjust the distance between the two ball studs 712, and finally, the inclination angle of the first laser radar 2 is adjusted.

The supporting rod 711 and the first base 72 can be made of the same material as the supporting frame 1.

In a preferred embodiment, the number of cameras 3 is plural.

In order not to affect the operation of the camera 3 when in use, the camera 3 can be installed on the side of the supporting rod 711, so that the camera 3 is close to the edge of the supporting frame 1.

In another preferred embodiment, there are two GPS4, and two GPS4 are respectively disposed near two ends of the stand 1.

The GPS4 may be mounted directly on the support frame 1 or may be connected to the support frame 1 by a stand.

For the aesthetic appearance of the whole structure, the outer side of the support frame 1 is wrapped with an outer casing cover 8. The housing cover 8 is typically made of plastic.

After the supporting frame 1 is sleeved with the outer shell cover 8, the camera 3, the GPS4 and the first laser radar 2 are all arranged on the outer side of the outer shell cover 8.

For ease of mounting and dismounting, the housing cover 8 is typically constructed in several parts; for example, the housing cover 8 includes a first cover and a second cover, and the open end of the first cover and the open end of the second cover are connected by a snap structure to form the housing cover 8.

Second embodiment

Fig. 2 is a schematic diagram of a second structure of the sensing system for automatic driving according to the present invention.

As shown in fig. 2, the present embodiment is different from the first embodiment in that the present embodiment is additionally provided with one second laser radar 5, and the additionally provided second laser radar 5 is attached to one end of the support frame 1.

Preferably, the second laser radar 5 is mounted on the support frame 1 by the second angle adjusting device 9.

As shown in fig. 5, specifically, a rotating shaft 10 and a screw 91 are arranged on the support frame 1 at intervals, one end of the screw 91 is fixedly connected with the support frame 1, and a central axis of the rotating shaft 10 is parallel to a central axis of the screw 91. Preferably, the central axis of the rotating shaft 10 is parallel to the central axis of the screw 91 in the same vertically disposed plane.

One end of the first base 72 is provided with a sleeve 11, the other end is rotatably connected with one end of an adjusting plate 92, and a strip-shaped through hole is formed in the adjusting plate 92 along the length direction thereof. The sleeve 11 is rotatably connected with the rotating shaft 10, and the screw 91 penetrates through the strip-shaped through hole. When the sleeve 11 and the rotating shaft 10 rotate relatively, the screw 91 moves in the strip-shaped through hole to adjust the angle of the second base. Since the second lidar 5 is mounted on the second mount, the angle of the second lidar 5 can be adjusted.

After the angle of the second laser radar 5 is adjusted to a proper position, the nut 713 is screwed on the screw 91 to fix the relative position of the screw 91 and the adjusting plate 92, so as to fix the angle of the second laser radar 5.

In order to further improve the rotation performance, a bearing may be additionally provided between the sleeve 11 and the rotating shaft 10.

The rotation connection of the adjusting plate 92 and the first base 72 can also be realized by a connection manner of a rotating shaft and a sleeve.

Third embodiment

An automobile provided with the automatic driving perception system according to the first or second embodiment.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. A perception system for automatic driving, comprising: the device comprises a support frame (1), a first laser radar (2), a camera (3) and a GPS (4);

the first laser radar (2), the camera (3) and the GPS (4) are arranged on the support frame (1);

the bottom of the support frame (1) is provided with a connecting piece (6) used for being connected with a vehicle body.

2. The automatic driving perception system according to claim 1, characterized in that said connecting elements (6) are provided in plurality, said connecting elements (6) being uniformly distributed at the bottom of said supporting frame (1).

3. The perception system for autopilot according to claim 1, characterized in that it further comprises a first angle adjustment device by means of which the first lidar (2) is mounted on the support frame (1).

4. The perception system for autopilot according to claim 3, characterized in that the first angle adjustment means comprise two first telescopic means (71) and a first base (72); the two first telescopic devices (71) are arranged at intervals; one end of the first telescopic device (71) is connected with the support frame (1) in a sliding manner, and the other end of the first telescopic device is connected with the first base (72); the first lidar (2) is mounted on the first mount (72).

5. The automatic driving perception system according to claim 4, characterized in that said first telescopic means (71) comprise a strut (711), a ball stud (712) and a nut (713); one end of the supporting rod (711) is connected with the supporting frame (1) in a sliding mode, and a threaded hole is formed in the other end of the supporting rod (711) along the length direction of the supporting rod (711); the ball stud (712) is screwed in the threaded hole; the ball head of the ball stud (712) is snapped into the nut (713); the nut (713) is clamped with the first base (72).

6. The perception system for autopilot according to any of claims 1 to 5, characterized in that it further comprises a second lidar (5), the second lidar (5) being mounted at one end of the support frame (1).

7. The perception system for autopilot according to claim 6, characterized in that it further comprises a second angle adjustment device (9), the second lidar (5) being mounted on the support frame (1) via the second angle adjustment device (9).

8. The automatic driving perception system according to claim 7, characterized in that said second angular adjustment means (9) comprise second telescopic means and a second base, one end of said second base being rotatably connected to said support frame (1) and the other end being connected to said support frame (1) through said second telescopic means; the second laser radar (5) is mounted on the second base.

9. The perception system for autopilot according to claim 6, further comprising a housing cover (8); the outer shell cover (8) is sleeved on the outer side of the support frame (1);

GPS (4), camera (3), first lidar (2), second lidar (5) and connecting piece (6) are located the outside of shell cover (8).

10. An automobile, characterized in that it is provided with a perception system for automatic driving according to any one of claims 1 to 9.