CN211786113U - Structural device based on fusion of monocular camera and laser radar - Google Patents
Structural device based on fusion of monocular camera and laser radar Download PDFInfo
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- CN211786113U CN211786113U CN201922433742.4U CN201922433742U CN211786113U CN 211786113 U CN211786113 U CN 211786113U CN 201922433742 U CN201922433742 U CN 201922433742U CN 211786113 U CN211786113 U CN 211786113U
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- 230000004927 fusion Effects 0.000 title claims description 13
- 238000007789 sealing Methods 0.000 claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000013011 mating Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
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Abstract
The utility model discloses a constructional device based on monocular camera fuses with laser radar, include: the device comprises a base, a first fixed seat, a second fixed seat, a first sealing element, a second sealing element and a plano lens; the laser radar is hermetically connected to the top of the first fixed seat through a first sealing element; the monocular camera module is fixed on the vertical surface of the second fixed seat, the second fixed seat and the monocular camera module are fixed inside the first fixed seat, a first through hole for the light transmission of the camera is formed in the side surface of the first fixed seat, and the plano lens is sealed at the first through hole; the bottom of the first fixing seat is connected to the base through a second sealing piece in a sealing mode. Have waterproof dustproof function, fuse camera and laser radar as an organic whole, compact structure, stability is high, and whole appearance is small and exquisite, and occupation space is little during the installation, and the structure is succinct, and the equipment is simple, simple to operate.
Description
Technical Field
The utility model belongs to the unmanned field relates to a constructional device based on monocular camera fuses with laser radar.
Background
In the field of unmanned driving, sensors play a crucial role, and they acquire information such as images, distances, speeds, etc. by sensing the surrounding environment, thereby enabling a car to safely travel. Cameras and lidar are the most common sensors in automobiles, and they have respective advantages and disadvantages in sensing the surrounding environment. The camera has the advantages that in the aspect of object identification, the camera can be used for carrying out detailed classification and identification on license plates, signboards, pedestrians, lane lines and the like; the laser radar has the advantages that in the aspect of ranging of an object, the ranging is far and high in precision, the three-dimensional information of the object can be accurately acquired, the stability is high, and the robustness is good. The camera has the disadvantages that the camera is difficult to accurately acquire the three-dimensional information of the object and is greatly influenced by ambient light; the disadvantage of lidar is that the classification of objects is only broad and cannot be identified in great detail.
As can be seen from the advantages and disadvantages of the camera and the laser radar, it is difficult to safely drive the vehicle by only using one of the sensors to process the current complex road conditions.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the purpose is: the structural device based on the fusion of the monocular camera and the laser radar has the advantages of good sealing performance, compact structure, small overall appearance and simplicity and convenience in installation.
The technical scheme of the utility model is that: a constructional device based on monocular camera fuses with laser radar includes: the device comprises a base, a first fixed seat, a second fixed seat, a first sealing element, a second sealing element and a plano lens;
the laser radar is connected to the top of the first fixed seat in a sealing mode through the first sealing element; the monocular camera module is fixed on the vertical surface of the second fixed seat, the second fixed seat and the monocular camera module are fixed inside the first fixed seat, a first through hole for transmitting the camera is formed in the side surface of the first fixed seat, and the flat lens is sealed at the first through hole; the bottom of the first fixed seat is connected to the base in a sealing mode through the second sealing element.
The further technical scheme is as follows: still include water joint, the side of first fixing base still is equipped with the second through-hole, and outside data transmission line passes water joint with the second through-hole is connected to the monocular camera module.
The further technical scheme is as follows: an internal thread is arranged in the second through hole, a matched external thread is arranged at one end of the waterproof joint, and the internal thread is matched with the external thread to realize the sealing of the second through hole;
and the other end of the waterproof joint is screwed to fix the data transmission line, so that the external sealing of the data transmission line is realized.
The further technical scheme is as follows: the first sealing element and the second sealing element are sealing rings.
The further technical scheme is as follows: the first fixed seat comprises a cylindrical side surface and a circular top surface, and the base is matched with the bottom of the first fixed seat; the circular top surface of first fixing base is equipped with the ring channel that corresponds with the sealing washer, the base is equipped with the ring channel that corresponds with the sealing washer.
The further technical scheme is as follows: the second fixing seat comprises a horizontal plane, a vertical plane and two side faces which are fixedly connected, the monocular camera module is fixed on the vertical plane, and the horizontal plane is connected with the circular top face of the first fixing seat;
the circular top surface of the first fixing seat and the base are provided with bayonets corresponding to the second fixing seat.
The further technical scheme is as follows: the first fixed seat and the laser radar are fixedly connected through a positioning pin and a screw;
the second fixed seat is fixedly connected with the monocular camera module through a screw;
the first fixed seat and the second fixed seat are fixedly connected through screws;
the base and the first fixed seat are fixedly connected through screws;
and the base is provided with a positioning pin hole and a screw hole for positioning and fixing the whole structure device.
The utility model has the advantages that:
through fixing second fixing base and monocular camera module inside first fixing base, first through-hole through the plano lens on with first fixing base is sealed up, first connecting piece is increased in first fixing base and laser radar's junction, increase the second connecting piece in the junction of first fixing base and base, make holistic sealing performance good, waterproof dustproof function has, fuse camera and laser radar into an organic whole, compact structure, high stability, whole appearance is small and exquisite, occupation space is little during the installation, the structure is succinct, the equipment is simple, high durability and convenient installation.
Drawings
The invention will be further described with reference to the following drawings and examples:
fig. 1 is an exploded view of a structural device based on the fusion of a monocular camera and a laser radar provided by the present application;
FIG. 2 is an external view of the first mounting bracket provided herein;
FIG. 3 is an internal view of the first mounting bracket provided herein;
FIG. 4 is an external view of a second mounting bracket provided herein;
FIG. 5 is an internal view of a second mounting bracket provided herein;
FIG. 6 is a schematic front view of a base provided herein;
FIG. 7 is a schematic rear view of a base provided herein;
FIG. 8 is a schematic diagram of a lidar provided herein;
fig. 9 is a schematic view of a monocular camera module provided herein;
fig. 10 is an overall appearance diagram of a structural device based on the fusion of a monocular camera and a laser radar.
Wherein: 1. a base; 2. a second seal member; 3. a second fixed seat; 4. a data transmission line; 5. a waterproof joint; 6. a laser radar; 7. a first seal member; 8. a first fixed seat; 9. a monocular camera module; 10. plain lenses.
Detailed Description
Example (b): the application provides a sealing performance is good, compact structure, whole appearance is small and exquisite, simple to operate convenient constructional device based on monocular camera and laser radar fuse, as shown in fig. 1, this constructional device can include: base 1, first fixing base 8, second fixing base 3, first sealing member 7, second sealing member 2, plano lens 10.
The laser radar 6 is hermetically connected to the top of the first fixed seat 8 through a first sealing element 7; the monocular camera module 9 is fixed on the vertical surface of the second fixed seat 3, the second fixed seat 3 and the monocular camera module 9 are fixed inside the first fixed seat 8, a first through hole for the light transmission of the camera is formed in the side surface of the first fixed seat 8, and the plano lens 10 is sealed at the first through hole; the bottom of the first fixed seat 8 is hermetically connected to the base 1 through the second sealing element 2.
In practical application, can glue plain lens 10 in first through-hole department, install the camera of the inside monocular camera module 9 of first fixing base 8 and aim at first through-hole, not only guaranteed that light can follow first through-hole and plain lens 10 and see through, can guarantee the leakproofness of holistic first through-hole department moreover through plain lens 10.
Because the monocular camera module 9 is fixed in the inside of first fixing base 8, in order to guarantee that the monocular camera module 9 realizes communication with the outside, consequently need set up the line hole on first fixing base 8 for pass data transmission line 4.
Optionally, the structural device may further include: waterproof joint 5, the side of first fixing base 8 still is equipped with the second through-hole, and outside data transmission line 4 passes waterproof joint 5 and second through-hole and is connected to monocular camera module 9.
Optionally, an internal thread is arranged in the second through hole, a matched external thread is arranged at one end of the waterproof connector 5, and the internal thread and the external thread are matched to realize sealing at the second through hole; the other end of the waterproof joint 5 is screwed to fix the data transmission line 4, so that the data transmission line 4 is sealed externally.
The data transmission line 4 can be fixed through the waterproof joint 5, and the sealing performance at the second through hole can be guaranteed.
Optionally, the first sealing element 7 and the second sealing element 2 are sealing rings.
Fig. 2 to 9 show a schematic view of the various components, with reference to fig. 2 to 9 in combination, and optionally the first holder 8 comprises a cylindrical lateral surface and a circular top surface, the base 1 being mated with the bottom of the first holder 8; the circular top surface of the first fixed seat 8 is provided with an annular groove corresponding to the sealing ring, and the base 1 is provided with an annular groove corresponding to the sealing ring.
Through the cooperation of ring channel and sealing washer, can guarantee the leakproofness of being connected between first fixing base 8 and base 1 and the laser radar 6.
Optionally, the second fixing seat 3 includes a horizontal surface, a vertical surface and two side surfaces, the monocular camera module 9 is fixed on the vertical surface, and the horizontal surface is connected with the circular top surface of the first fixing seat 8; bayonets corresponding to the second fixing seat 3 are arranged on the circular top surface of the first fixing seat 8 and the base 1.
Optionally, the first fixing seat 8 and the laser radar 6 are fixedly connected through a positioning pin and a screw; the second fixed seat 3 is fixedly connected with the monocular camera module 9 through screws; the first fixed seat 8 and the second fixed seat 3 are fixedly connected through screws; the base 1 is fixedly connected with the first fixed seat 8 through screws; the base 1 is provided with a positioning pin hole and a screw hole for positioning and fixing the whole structure device.
For example, referring to fig. 1 to 9 in combination, when assembling the structural device based on the fusion of the monocular camera and the lidar according to the present application, a sealing ring is first placed in an annular groove of the first fixing seat 8, so that a seal is formed between the first fixing seat 8 and the lidar 6; then, the laser radar 6 is positioned on the first fixing seat 8 through two positioning pins, and the laser radar 6 is fixed on the first fixing seat 8 through a screw; bonding a flat lens 10 on a plane at a first through hole for the light transmission of the camera in the first fixing seat 8 for sealing the first through hole; the monocular camera module 9 is fixed on the second fixed seat 3 through four screws; the second fixing seat 3 is fixed on the first fixing seat 8 through four screws, and a camera of the monocular camera module 9 is aligned with the first through hole in the first fixing seat 8; the data transmission line 4 penetrates through the waterproof connector 5 and a second through hole in the first fixing seat 8 to be connected to the monocular camera module 9, one end of the waterproof connector 5 is screwed into the second through hole in the first fixing seat 8 and screwed in a threaded fit manner to fix the waterproof connector 5, after the length of the data transmission line 4 in the first fixing seat 8 is adjusted, the other end of the waterproof connector 5 is screwed to fix the data transmission line 4, and the waterproof connector 5 is used for fixing the data transmission line 4, sealing the outer part of the data transmission line and sealing the second through hole of the first fixing seat 8; placing a sealing ring in the annular groove of the base 1 to form sealing between the first fixed seat 8 and the base 1; the base 1 is fixed on the first fixed seat 8 through four screws; two positioning pin holes and a screw on the base 1 are used for positioning and fixing the whole device during installation. The assembled structural device based on the fusion of the monocular camera and the laser radar is shown in fig. 10.
To sum up, the utility model provides a constructional device based on monocular camera fuses with laser radar, through fixing second fixing base and monocular camera module inside first fixing base, it is sealed with the first through-hole on the first fixing base through the plano lens, increase first connecting piece in first fixing base and laser radar's junction, increase the second connecting piece in the junction of first fixing base and base, make holistic sealing performance good, waterproof dustproof function has, fuse camera and laser radar as an organic whole, compact structure, high stability, whole appearance is small and exquisite, occupation space is little during the installation, the structure is succinct, the equipment is simple, simple to operate. The camera and the laser radar are integrated, and the safety of the unmanned automobile is greatly improved by utilizing respective advantages of the camera and the laser radar.
The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying a number of the indicated technical features. Thus, a defined feature of "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. The utility model provides a constructional device based on monocular camera fuses with laser radar which characterized in that includes: the device comprises a base, a first fixed seat, a second fixed seat, a first sealing element, a second sealing element and a plano lens;
the laser radar is connected to the top of the first fixed seat in a sealing mode through the first sealing element; the module of the monocular camera is fixed on the vertical surface of the second fixed seat, the second fixed seat and the module of the monocular camera are fixed inside the first fixed seat, a first through hole for the light transmission of the camera is formed in the side surface of the first fixed seat, and the flat lens is sealed at the first through hole; the bottom of the first fixed seat is connected to the base in a sealing mode through the second sealing element.
2. The structural device based on the fusion of the monocular camera and the lidar according to claim 1, further comprising a waterproof joint, wherein a second through hole is further formed in a side surface of the first fixing base, and an external data transmission line passes through the waterproof joint and the second through hole to be connected to the module of the monocular camera.
3. The structural device based on the fusion of the monocular camera and the lidar according to claim 2, wherein the second through hole has an internal thread therein, one end of the waterproof joint has a matching external thread therein, and the internal thread and the external thread cooperate to seal the second through hole;
and the other end of the waterproof joint is screwed to fix the data transmission line, so that the external sealing of the data transmission line is realized.
4. The monocular camera and lidar fusion based configuration of claim 1, wherein the first and second seals are sealing rings.
5. The monocular camera and lidar fusion based structural device of claim 4, wherein the first mount comprises a cylindrical side surface and a circular top surface, the base mating with a bottom of the first mount; the circular top surface of first fixing base is equipped with the ring channel that corresponds with the sealing washer, the base is equipped with the ring channel that corresponds with the sealing washer.
6. The monocular camera and lidar fusion based structural device of claim 5, wherein the second fixed mount comprises a horizontal surface and a vertical surface which are fixedly connected, and two side surfaces, the module of the monocular camera is fixed on the vertical surface, and the horizontal surface is connected with the circular top surface of the first fixed mount;
the circular top surface of the first fixing seat and the base are provided with bayonets corresponding to the second fixing seat.
7. The structural device based on the fusion of the monocular camera and the lidar according to any one of claims 1 to 6, wherein the first fixing seat and the lidar are fixedly connected through a positioning pin and a screw;
the second fixed seat is fixedly connected with the module of the monocular camera through a screw;
the first fixed seat and the second fixed seat are fixedly connected through screws;
the base and the first fixed seat are fixedly connected through screws;
and the base is provided with a positioning pin hole and a screw hole for positioning and fixing the whole structure device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922433742.4U CN211786113U (en) | 2019-12-30 | 2019-12-30 | Structural device based on fusion of monocular camera and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922433742.4U CN211786113U (en) | 2019-12-30 | 2019-12-30 | Structural device based on fusion of monocular camera and laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211786113U true CN211786113U (en) | 2020-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922433742.4U Active CN211786113U (en) | 2019-12-30 | 2019-12-30 | Structural device based on fusion of monocular camera and laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211786113U (en) |
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2019
- 2019-12-30 CN CN201922433742.4U patent/CN211786113U/en active Active
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