CN215793515U - Sensor mounting frame and sensor module - Google Patents
Sensor mounting frame and sensor module Download PDFInfo
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- CN215793515U CN215793515U CN202122468343.9U CN202122468343U CN215793515U CN 215793515 U CN215793515 U CN 215793515U CN 202122468343 U CN202122468343 U CN 202122468343U CN 215793515 U CN215793515 U CN 215793515U
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Abstract
The application relates to the technical field of sensors for vehicles, in particular to a sensor mounting frame and a sensor module, which comprise a first mounting piece, a connecting piece and a second mounting piece which are sequentially connected in a first direction, wherein the first mounting piece, the connecting piece and the second mounting piece enclose a space for placing a laser radar; the sensor mount further includes an antenna mount and a camera mount, the antenna mount being mounted to the first mount, the camera mount being mounted to the second mount. The utility model provides an aim at to the independent different positions of installing at unmanned driving vehicle of each sensor that present unmanned driving vehicle adopted, this brings inconvenience for the sensor accurate positioning again after maintaining the change, provides a sensor mounting bracket and sensor module.
Description
Technical Field
The application relates to the technical field of sensors for vehicles, in particular to a sensor mounting frame and a sensor module.
Background
The unmanned vehicle is a land wheeled robot, has great similarity with a common robot and great difference, and is required to complete actions of road running, accurate parking, obstacle avoidance and the like without human intervention, so that a plurality of sensors on the vehicle are required to cooperate. At present, sensors such as a laser radar, a camera and an antenna are generally installed on the unmanned vehicle, and the sensors are usually independently installed at different positions of the unmanned vehicle, so that inconvenience is brought to accurate re-positioning of the sensors after maintenance and replacement.
SUMMERY OF THE UTILITY MODEL
The utility model provides an aim at to the independent different positions of installing at unmanned driving vehicle of each sensor that present unmanned driving vehicle adopted, this brings inconvenience for the sensor accurate positioning again after maintaining the change, provides a sensor mounting bracket and sensor module.
In order to achieve the purpose, the following technical scheme is adopted in the application:
one aspect of the application provides a sensor mounting frame, which comprises a first mounting part, a connecting part and a second mounting part which are sequentially connected in a first direction, wherein the first mounting part, the connecting part and the second mounting part enclose a space for placing a laser radar;
the sensor mount further includes an antenna mount and a camera mount, the antenna mount being mounted to the first mount, the camera mount being mounted to the second mount.
Optionally, the first mounting part and the second mounting part are both connected with the lidar so that the first direction is an axial direction of the lidar; the antenna mounting piece is cylindrical and is used for being arranged coaxially with the laser radar.
The technical scheme has the beneficial effects that: when one of the antenna installation part and the laser radar is installed, the other one can be installed and adjusted according to the position relation of the coaxial arrangement of the antenna installation part and the laser radar, so that the later installation of the antenna installation part and the laser radar can be relatively accurately installed; the antenna mounting part is used for being coaxial with the laser radar, and the antenna mounting part is not easy to obstruct the scanning function of the laser radar.
Optionally, be provided with first spacing ring on the first installed part, first spacing ring is located first installed part deviates from one side of antenna installed part, first spacing ring with the coaxial setting of antenna installed part, first spacing ring be used for with laser radar's the ascending one end suit of axial.
The technical scheme has the beneficial effects that: through this first spacing ring and laser radar suit, on the one hand first spacing ring can form the protection to laser radar's tip, makes laser radar's tip be difficult for directly bumping with the external world, and on the other hand, first spacing ring suit makes laser radar and first spacing ring in laser radar to and laser radar and the coaxial setting of antenna mounting spare, make laser radar can be more convenient, accurate installation fixed.
Optionally, the camera mounting member is cylindrical, and the camera mounting member is configured to be coaxially disposed with the laser radar.
The technical scheme has the beneficial effects that: when one of the camera mounting piece and the laser radar is mounted, the other one can be mounted and adjusted according to the position relation of the camera mounting piece and the laser radar which are coaxially arranged, so that the camera mounting piece and the laser radar which are mounted later can be relatively accurately mounted; moreover, the camera mounting piece is arranged coaxially with the laser radar, so that the camera mounting piece is not easy to obstruct the scanning function of the laser radar.
Optionally, a second limiting ring is arranged on the second mounting part, the second limiting ring is located on one side, away from the camera mounting part, of the second mounting part, the second limiting ring is coaxially arranged with the camera mounting part, and the second limiting ring is used for being sleeved with one axial end of the laser radar.
The technical scheme has the beneficial effects that: through this second spacing ring and laser radar suit, on the one hand the second spacing ring can form the protection to laser radar's tip, makes laser radar's tip be difficult for directly bumping with the external world, and on the other hand, second spacing ring suit makes laser radar and second spacing ring in laser radar to and laser radar and the coaxial setting of camera installed part, make laser radar can be more convenient, accurate installation fixed.
Optionally, the camera mounting device further comprises a camera base, a clamping hole for mounting a camera is formed in the camera base, a camera lens hole is formed in a side wall of the camera mounting member, and a connecting line between the center of the clamping hole and the center of the camera lens hole is perpendicular to an axis of the camera mounting member.
The technical scheme has the beneficial effects that: therefore, when the camera is installed, due to the fact that the clamping hole, the camera lens hole and the camera installation part are in relatively definite position relation, the camera and the laser radar are in relatively definite position relation in the axial direction, and after one of the camera and the laser radar is accurately positioned and installed, the other one of the camera and the laser radar is easily accurately positioned.
Optionally, the first mounting part and the second mounting part are both connected with the lidar so that the first direction is an axial direction of the lidar; the connecting piece is provided with an arc-shaped groove with an opening facing the space, and the arc-shaped groove is used for being matched with the side wall of the laser radar.
The technical scheme has the beneficial effects that: that is to say, laser radar is placing in when the space, laser radar's partly is located this arc wall, and after installing laser radar on the sensor mount frame and forming the sensor module, can reduce the at least partial size of this sensor module on laser radar and the array direction of connecting piece, make sensor module structure compact relatively, shared space is less relatively, is difficult for bumping with the external world when using.
Optionally, the module mounting seat further comprises a module mounting seat, the module mounting seat comprises a sensor connecting part and a mounting position connecting part, the sensor connecting part is connected with the connecting piece, the mounting position connecting part is used for being connected with an external mounting position, and the sensor connecting part and the mounting position connecting part are arranged in the length direction of the module mounting seat.
The technical scheme has the beneficial effects that: this makes the first mounting member, the connecting member, and the second mounting member, and other components mounted on the module mount, less likely to obstruct the connection of the module mount to the external mounting site.
Optionally, the sensor connecting portion and the mounting portion connecting portion are connected to form a V-shaped member, and the module mounting seat has an abutting surface for abutting against an external mounting portion, the abutting surface facing an inner side of the V-shaped member.
The technical scheme has the beneficial effects that: the inner side of the V-shaped member in the embodiment of the present application means a side on which the V-letter is positioned at an angle of less than 180 ° of two angles defined in a plane. The angle formed between the sensor connection part and the mounting point connection part in the embodiment of the present application is preferably greater than 90 °.
Another aspect of the present application provides a sensor module including the sensor mount provided by the present application.
The technical scheme provided by the application can achieve the following beneficial effects:
the sensor mounting rack and the sensor module provided by the embodiment of the application adopt the sensor mounting rack provided by the embodiment of the application to install the antenna mounting piece, the space for placing the laser radar and the camera mounting piece together in a centralized arrangement manner, so that the antenna, the laser radar and the camera which are installed on the sensor mounting rack can also be installed together in a centralized arrangement manner, on one hand, the antenna, the laser radar and the camera can synchronously move along with the sensor mounting rack, the relative position and the distance between the antenna, the laser radar and the camera are not easy to change, the accurate positioning of one sensor is well made, other sensors can relatively easily refer to the positioned sensor for positioning, on the other hand, the relative distance between the antenna, the laser radar and the camera is relatively short, and the deviation of the distance and the position between the sensors caused by assembly errors is relatively small, this allows for a higher accuracy of the reference positioning between the sensors.
Additional features of the present application and advantages thereof will be set forth in the description which follows, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It should be apparent that the drawings in the following description are embodiments of the present application and that other drawings may be derived from those drawings by a person of ordinary skill in the art without inventive step.
Fig. 1 is a schematic perspective view of an embodiment of a sensor module provided in an embodiment of the present application;
fig. 2 is a schematic diagram of an exploded structure of an embodiment of a sensor mount according to an embodiment of the present disclosure.
Reference numerals:
100-an antenna mount; 200-a first mount; 210-a first stop collar; 220-a through hole; 300-a second mount; 310-a second stop collar; 400-laser radar; 500-a camera; 600-a camera mount; 610-camera lens hole; 700-a connector; 710-an arc-shaped slot; 800-module mount; 810-a sensor connection; 820-a mounting location connection; 830-a binding surface; 900-camera stand; 910-card hole.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
As shown in fig. 1 and 2, one aspect of the present application provides a sensor mount including a first mount 200, a connector 700, and a second mount 300 connected in sequence in a first direction, the first mount 200, the connector 700, and the second mount 300 enclosing a space for placing a lidar 400;
the sensor mount further comprises an antenna mount 100 and a camera mount 600, the antenna mount 100 being mounted to the first mount 200, the camera mount 600 being mounted to the second mount 300.
The sensor mounting provided by the embodiment of the application, the antenna mounting member 100, the space for placing the laser radar 400 and the camera mounting member 600 are arranged and mounted together in a centralized manner, so that the antenna, the laser radar 400 and the camera 500 mounted on the sensor mounting member can also be arranged and mounted together in a centralized manner, on one hand, the antenna, the laser radar 400 and the camera 500 can move synchronously with the sensor mounting, the relative positions and distances among the antenna, the laser radar 400 and the camera 500 are not easy to change, the accurate positioning of one of the sensors is well made, other sensors can be relatively easily positioned by referring to the positioned sensors, and on the other hand, the relative distances among the antenna, the laser radar 400 and the camera 500 are relatively short, so that the distance and position deviation among the sensors caused by assembly errors is relatively small, and the reference positioning precision among the sensors is higher.
In the embodiment of the present application, preferably, the bottom of the antenna mounting member 100 is provided with a wire passing hole and a bolt passing hole, and the antenna body is fixed on the antenna mounting member 100 by using 1 inch 5/8 bolt. The antenna mount 100 is secured to the first mount 200 by 3M 6 bolts.
Optionally, the first mounting part 200 and the second mounting part 300 are both connected to the lidar 400 such that the first direction is an axial direction of the lidar 400; the antenna mounting device 100 is cylindrical, and the antenna mounting device 100 is provided coaxially with the laser radar 400. When one of the antenna mounting member 100 and the lidar 400 is mounted, the other can be mounted and adjusted according to the position relation of the coaxial arrangement of the antenna mounting member 100 and the lidar 400, so that the latter mounting one of the antenna mounting member 100 and the lidar 400 can be relatively accurately mounted; the antenna mounting member 100 is provided coaxially with the laser radar 400, so that the antenna mounting member 100 does not easily obstruct the scanning function of the laser radar 400.
Optionally, a first limiting ring 210 is disposed on the first mounting member 200, the first limiting ring 210 is located on a side of the first mounting member 200 away from the antenna mounting member 100, the first limiting ring 210 is disposed coaxially with the antenna mounting member 100, and the first limiting ring 210 is configured to be sleeved on an axial end of the laser radar 400. Through this first spacing ring 210 and lidar 400 suit, first spacing ring 210 can form the protection to lidar 400's tip on the one hand, makes lidar 400's the difficult direct and external bump of tip, and on the other hand, first spacing ring 210 suit makes lidar 400 and first spacing ring 210 in lidar 400 to and lidar 400 and the coaxial setting of antenna mounting part 100, make lidar 400 can be more convenient, accurate installation is fixed. Of course, it is also possible to form a mounting hole provided coaxially with the antenna mounting member 100 in the first mounting member 200, and form a pin at one end in the axial direction of the laser radar 400 so that the pin is fitted into the through hole. Preferably, a through-hole 220 penetrating the first mounting member 200 is formed at a position of the first mounting member 200 corresponding to the first stopper ring 210, and the laser radar 400 may be placed in the space through the through-hole 220.
Optionally, the camera mounting member 600 is cylindrical, and the camera mounting member 600 is configured to be coaxially disposed with the laser radar 400. When one of the camera mounting member 600 and the laser radar 400 is mounted, the other one can be mounted and adjusted according to the position relation of the two coaxially arranged, so that the latter one of the camera mounting member 600 and the laser radar 400 can be relatively accurately mounted; further, the camera mount 600 is provided coaxially with the laser radar 400, so that the camera mount 600 does not easily obstruct the scanning function of the laser radar 400.
Optionally, a second limiting ring 310 is disposed on the second mounting member 300, the second limiting ring 310 is located on a side of the second mounting member 300 away from the camera mounting member 600, the second limiting ring 310 is disposed coaxially with the camera mounting member 600, and the second limiting ring 310 is configured to be sleeved on an axial end of the laser radar 400. Through this second spacing ring 310 and lidar 400 suit, on the one hand second spacing ring 310 can form the protection to lidar 400's tip, makes lidar 400's the difficult direct and external bump that takes place of tip, and on the other hand, second spacing ring 310 suit makes lidar 400 and second spacing ring 310 in lidar 400 to and lidar 400 and the coaxial setting of camera installed part 600, make lidar 400 can be more convenient, accurate installation is fixed. Of course, it is also possible to form a mounting hole provided coaxially with the camera mounting member 600 in the second mounting member 300, and form a pin on one end of the laser radar 400 in the axial direction so as to be fitted into the through hole.
Optionally, the sensor mounting bracket provided in the embodiment of the present application further includes a camera base 900, a card hole 910 for mounting the camera 500 is formed on the camera base 900, a camera lens hole 610 is formed on a side wall of the camera mounting member 600, and a connection line between a center of the card hole 910 and a center of the camera lens hole 610 is perpendicular to an axis of the camera mounting member 600. Thus, when the camera 500 is installed, the card hole 910, the camera lens hole 610 and the camera mounting member 600 have a relatively definite positional relationship therebetween, so that the camera 500 and the lidar 400 have a relatively definite positional relationship therebetween in the axial direction, and after one of the camera 500 and the lidar 400 is accurately positioned and installed, the other is relatively easily accurately positioned.
In the embodiment of the present application, preferably, the camera mounting member 600 is further provided with a camera line passing hole and a center bolt passing hole, and the number of the camera lens holes 610 can be changed according to the requirement of a camera field angle (FOV). The camera 500 is fixed to the camera stand 900 by bolts, and the camera stand 900 is fixed to the camera mount 600 by 2M 4 bolts. The camera mount 600 is fixed to the second mount 300 by 3M 6 bolts.
Optionally, the first mounting part 200 and the second mounting part 300 are both connected to the lidar 400 such that the first direction is an axial direction of the lidar 400; the connector 700 has an arcuate slot 710 with an opening facing the space, the arcuate slot 710 for mating with a side wall of the lidar 400. That is to say, laser radar 400 is placing in when the space, some of laser radar 400 is located this arc wall 710, and after installation laser radar 400 formed the sensor module on the sensor mount, can reduce at least partial size of this sensor module in laser radar 400 and the array direction of connecting piece 700, make sensor module structure compact relatively, shared space is less relatively, difficult and external collision takes place when using. In the embodiment of the present application, it is preferable that the cylinder on which the arc-shaped bottom surface of the arc-shaped groove 710 is located is disposed coaxially with the laser radar 400, and of course, the axis of the cylinder on which the arc-shaped bottom surface of the arc-shaped groove 710 is located may be slightly deviated from the axis of the laser radar 400.
Optionally, the sensor mounting bracket provided in the embodiment of the present application further includes a module mounting base 800, the module mounting base 800 includes a sensor connecting portion 810 and a mounting position connecting portion 820, the sensor connecting portion 810 is connected to the connecting member 700, the mounting position connecting portion 820 is used for being connected to an external mounting position, and the sensor connecting portion 810 and the mounting position connecting portion 820 are arranged in a length direction of the module mounting base 800. This makes it difficult for the first mounting part 200, the connection member 700, and the second mounting part 300, and other components mounted on the module mount 800 to hinder the connection of the module mount 800 to an external mounting site. In the embodiment of the present application, the external mounting position is preferably a vehicle body of a vehicle, and the vehicle may be an unmanned vehicle or a vehicle capable of being manually driven.
Optionally, the sensor connecting portion 810 and the mounting portion 820 are connected to each other to form a V-shaped member, and the module mounting base 800 has an abutting surface 830 for abutting with an external mounting portion, and the abutting surface 830 faces the inner side of the V-shaped member. The inner side of the V-shaped member in the embodiment of the present application means a side on which the V-letter is positioned at an angle of less than 180 ° of two angles defined in a plane. The angle formed between the sensor connecting portion 810 and the mounting-site connecting portion 820 in the embodiment of the present application is preferably greater than 90 °. In this way, the engaging surface 830 of the module holder 800 can engage with a corner of the external mounting location, which should be adapted to the engaging surface 830. Preferably, the mounting site connecting part 820 passes through 4 phi 9 through holes on the mounting site connecting part 820, and the module mounting base 800 is fixed on the vehicle body by using 4M 8 bolts. The first mount 200 is bolted to the link 700 by two M8 bolts. The second mount 300 is bolted to the link 700 by two M8 bolts. Lidar 400 is bolted to second mount 300 by 1 english 1/4 bolt, and there are two pins on second mount 300 to carry out spacing to lidar 400. The module mounting base 800 is fixed by 4M 8 bolts through four counter bores on the connecting piece 700.
Another aspect of the present application provides a sensor module, including the sensor mount that the embodiment of the present application provided.
The sensor module provided by the embodiment of the application adopts the sensor mounting rack provided by the embodiment of the application, the antenna mounting piece 100, the space for placing the laser radar 400 and the camera mounting piece 600 are arranged and mounted together in a concentrated manner, so that the antenna, the laser radar 400 and the camera 500 which are mounted on the sensor mounting rack can also be arranged and mounted together in a concentrated manner, on one hand, the antenna, the laser radar 400 and the camera 500 can move synchronously along with the sensor mounting rack, the relative positions and distances among the antenna, the laser radar 400 and the camera 500 are not easy to change, the accurate positioning of one sensor is well done, other sensors can be positioned by referring to the positioned sensor relatively easily, on the other hand, the relative distances among the antenna, the laser radar 400 and the camera 500 are close, and the distance and position deviation caused by assembly errors are relatively small, this allows for a higher accuracy of the reference positioning between the sensors.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. The sensor mounting frame is characterized by comprising a first mounting piece, a connecting piece and a second mounting piece which are sequentially connected in a first direction, wherein a space for placing a laser radar is surrounded by the first mounting piece, the connecting piece and the second mounting piece;
the sensor mount further includes an antenna mount and a camera mount, the antenna mount being mounted to the first mount, the camera mount being mounted to the second mount.
2. The sensor mount of claim 1, wherein the first mount and the second mount are each coupled to the lidar such that the first direction is an axial direction of the lidar; the antenna mounting piece is cylindrical and is used for being arranged coaxially with the laser radar.
3. The sensor mount according to claim 2, wherein a first stop collar is provided on the first mount, the first stop collar being located on a side of the first mount facing away from the antenna mount, the first stop collar being coaxially arranged with the antenna mount, the first stop collar being adapted to be fitted with an axial end of the lidar.
4. The sensor mount of claim 2, wherein the camera mount is cylindrical and the camera mount is configured to be coaxially disposed with the lidar.
5. The sensor mount according to claim 4, wherein a second stop collar is provided on the second mount, the second stop collar being located on a side of the second mount facing away from the camera mount, the second stop collar being coaxially arranged with the camera mount, the second stop collar being adapted to be nested with an axial end of the lidar.
6. The sensor mount of claim 4, further comprising a camera mount, wherein a card hole for mounting a camera is formed on the camera mount, and a camera lens hole is formed on a sidewall of the camera mount, and wherein a line connecting a center of the card hole and a center of the camera lens hole is perpendicular to an axis of the camera mount.
7. The sensor mount of claim 1, wherein the first mount and the second mount are each coupled to the lidar such that the first direction is an axial direction of the lidar; the connecting piece is provided with an arc-shaped groove with an opening facing the space, and the arc-shaped groove is used for being matched with the side wall of the laser radar.
8. The sensor mount of any one of claims 1-7, further comprising a module mount, the module mount comprising a sensor connection portion and a mount location connection portion, the sensor connection portion being connected to the connector, the mount location connection portion being configured to connect to an external mount location, the sensor connection portion and the mount location connection portion being aligned along a length of the module mount.
9. The sensor mount of claim 8, wherein the sensor connection portions and the mounting site connection portions are interconnected to form a V-shaped member, the module mount having an abutment surface for abutment with an external mounting site, the abutment surface facing an interior side of the V-shaped member.
10. Sensor module, characterized in that it comprises a sensor mount according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122468343.9U CN215793515U (en) | 2021-10-13 | 2021-10-13 | Sensor mounting frame and sensor module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122468343.9U CN215793515U (en) | 2021-10-13 | 2021-10-13 | Sensor mounting frame and sensor module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215793515U true CN215793515U (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122468343.9U Active CN215793515U (en) | 2021-10-13 | 2021-10-13 | Sensor mounting frame and sensor module |
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| Country | Link |
|---|---|
| CN (1) | CN215793515U (en) |
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2021
- 2021-10-13 CN CN202122468343.9U patent/CN215793515U/en active Active
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