CN218536939U - Sensor position simulation tool for unmanned vehicle - Google Patents

Abstract

The utility model provides a sensor position simulation tool of an unmanned vehicle, which comprises a frame, and a plurality of first supports, a plurality of second supports and a plurality of third supports which are arranged on the frame, wherein the positions of the first supports, the second supports and the third supports are all adjustable on the frame; the first support is arranged at the corner of the frame and comprises an angle adjusting mechanism and a first support, the first support is arranged on the frame through the angle adjusting mechanism, the first support is used for installing an angle laser radar, the angle adjusting mechanism is used for adjusting the angle of the first support relative to the frame, the position of the angle adjusting mechanism on the frame can be adjusted, and the third support is used for installing a camera assembly. Sensor position simulation frock of unmanned vehicle, can simulate the integration of different grade type sensor on the automobile body and arrange, and can satisfy the test demand of arranging to the best integration of each sensor before unmanned vehicle falls to ground.

Description

Sensor position simulation tool for unmanned vehicle

Technical Field

The utility model relates to an unmanned technical field, in particular to sensor position simulation frock of unmanned vehicle.

Background

Currently, in order to ensure the unmanned vehicle to acquire and recognize the surrounding environment, the sensing module of the autopilot system needs to acquire a great amount of surrounding environment information, such as the vehicle state, traffic flow information, road conditions, traffic signs and other information, through various sensors, and the sensors for collecting such information mainly include laser Radar (Lidar), camera (Camera), and Millimeter Wave Radar (Millimeter Wave Radar).

Specifically, because a single sensor obtains limited information, and the sensors have different qualities and performances and are difficult to replace each other, in order to realize automatic driving, an unmanned vehicle is generally required to be provided with a plurality of sensors of different types, and the plurality of sensors are mutually matched to form a sensing system of the vehicle.

For the integrated arrangement requirements of the multiple sensors, testing and research and development need to be performed before a new vehicle falls to the ground to make an optimal sensor integrated arrangement scheme, and in the prior art, for the testing of the sensor integrated arrangement scheme, two schemes are generally adopted:

1. designing brackets with different shapes for matching according to different sensor integration arrangement schemes;

2. and when the integrated arrangement scheme of the sensors needs to be adjusted, the welded iron support is adopted, and then the operations such as cutting, welding and the like are carried out on the iron support so as to carry out adjustment.

However, the first scheme needs to design different supports according to different schemes, the cost is too high, unnecessary waste can be caused, the second scheme has certain stability, but the second scheme is not good enough in flexibility and is not easy to adjust, and the test difficulty is larger. Therefore, no special tool is provided in the prior art, and the integrated arrangement of a plurality of sensors on the vehicle body can be simulated.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a sensor position simulation frock of unmanned vehicle to can simulate the integrated arrangement of different grade type sensor on the automobile body, satisfy the test demand to the best mounted position of each sensor before unmanned vehicle falls to ground.

In order to achieve the above purpose, the technical scheme of the utility model is realized as follows:

the sensor position simulation tool for the unmanned vehicle comprises a frame, and a plurality of first supports, a plurality of second supports and a plurality of third supports which are arranged on the frame, wherein the positions of the first supports, the second supports and the third supports are adjustable on the frame;

the first support is arranged at the corner of the frame and comprises an angle adjusting mechanism and a first support, the first support is arranged on the frame through the angle adjusting mechanism, the first support is used for mounting a corner laser radar, the angle adjusting mechanism is used for adjusting the angle of the first support relative to the frame, and the position of the angle adjusting mechanism on the frame can be adjusted;

the second bracket is arranged on the top and/or the side of the frame and is used for mounting a laser radar or a millimeter wave radar;

the third support is arranged on the side of the frame, and the third support is used for mounting the camera assembly.

Further, the frame comprises a bottom frame and a top frame, and the bottom frame and the top frame are connected through a plurality of first vertical beams; the first vertical beam is connected with the bottom frame and the top frame through the first corner brace component.

Further, the angle adjusting mechanism adopts a hinge assembly which comprises a first hinge and a second hinge; the stiff end of first hinge with first upright roof beam links to each other, and the expansion end of first hinge with the stiff end of second hinge links to each other, just the expansion end of second hinge with first support links to each other.

Furthermore, the rotating direction of the movable end of the first hinge is perpendicular to the rotating direction of the movable end of the second hinge.

Further, the first hinge is arranged on the first vertical beam through a first bolt; the first vertical beam is provided with a first fixing groove arranged along the length direction of the first vertical beam, the first bolt is arranged at the fixing end of the first hinge, and the head of the first bolt is arranged in the first fixing groove in a sliding mode.

Further, the second support is including locating the underframe lateral part and/or the second upright beam at top of the top frame, and locate second support on the second upright beam, lidar or millimeter wave radar install in on the second support, just the second upright beam with first upright beam parallel arrangement.

Furthermore, the second vertical beam is connected to the bottom frame or the top frame through a second corner brace assembly.

Furthermore, the second support and the second vertical beam are connected through a connecting mechanism, and the second support is detachably mounted on the connecting mechanism.

Further, the connecting mechanism comprises an adapter and a third hinge; the second support is arranged on the adapter, and the adapter is connected to the second vertical beam through the third hinge; the third hinge is adjustable along the length direction of the second vertical beam.

Further, the third bracket is provided with a third support and an angle adjusting part; the third support is arranged on the first vertical beam through the angle adjusting part, and the camera assembly is arranged on the third support; the angle adjusting part is adjustable along the length direction of the first vertical beam, and the angle adjusting part is used for adjusting the angle of the camera assembly.

Compared with the prior art, the utility model discloses following advantage has:

sensor position simulation frock of unmanned vehicle, through first support, the cooperation setting of second support and third support, can realize the convenient dismouting of multiple different grade type sensor on this sensor position simulation frock, and each support position-adjustable on the frame, but to simulate the integration arrangement of different grade type sensor on the automobile body, and simultaneously, angle adjustment mechanism is passed through to first support, still can realize angle laser radar's focus degree and adjust, can do benefit to survey angle laser radar's best installation angle, and can satisfy the test demand to the best integration arrangement scheme of each sensor before unmanned vehicle falls to the ground better.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

fig. 1 is a schematic view of an overall structure of a sensor position simulation tool for an unmanned vehicle according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

fig. 3 is another schematic structural diagram of the first bracket according to the embodiment of the present invention;

fig. 4 is a schematic structural diagram of a second bracket according to an embodiment of the present invention;

FIG. 5 is a further state diagram of the arrangement of FIG. 3 in use;

fig. 6 is another schematic structural view of a second bracket according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a third bracket according to an embodiment of the present invention;

fig. 8 and 9 are schematic structural diagrams of a third bracket according to an embodiment of the present invention;

description of reference numerals:

1. a frame; 2. a first bracket; 3. a second bracket; 4. a third support;

101. a bottom frame; 1011. a bottom cross member; 1012. a bottom stringer; 102. a top frame; 1021. a top cross beam; 1022. a top stringer; 103. a first vertical beam; 1031. a first fixing groove; 104. connecting the cross beam; 105. connecting the longitudinal beams;

201. a first hinge; 2011. a fixed end of the first hinge; 2012. a movable end of the first hinge; 202. a second hinge; 2021. a fixed end of the second hinge; 2022. a movable end of the second hinge; 203. a first support;

301. a second vertical beam; 302. a second support; 303. an adapter; 304. a third hinge; 3041. a fixed end of the third hinge; 3042. a movable end of a third hinge;

401. a third support; 402. a fourth hinge; 4021. a fixed end of the fourth hinge; 4022. a movable end of the fourth hinge; 403. a fifth hinge; 4031. a fixed end of a fifth hinge; 4032. the movable end of the fifth hinge.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features of the embodiments of the present invention may be combined with each other.

In the description of the present invention, it should be noted that, if terms indicating orientation or positional relationship such as "upper", "lower", "inner", "outer", etc. appear, they are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the appearances of the terms first, second, etc. in this specification are not necessarily all referring to the same order, but are to be construed as referring to the same order.

In addition, in the description of the present invention, the terms "mounted," "connected," and "connecting" are to be construed broadly unless otherwise specifically limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. To those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood in combination with the specific situation.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The embodiment relates to a sensor position simulation tool for an unmanned vehicle, which can simulate the integrated arrangement of different types of sensors on a vehicle body, can meet the test requirement of the optimal integrated arrangement of the sensors before the unmanned vehicle lands on the ground, and reduces the development period and the cost of the unmanned vehicle.

In the overall structure, as shown in fig. 1, the sensor position simulation tool of this embodiment includes a frame 1, and a first support 2, a second support 3, and a third support 4 provided on the frame 1, where the first support 2, the second support 3, and the third support 4 are plural, and all the positions of the first support 2, the second support 3, and the third support 4 on the frame 1 are adjustable.

Wherein, the first support 2 is arranged at the corner of the frame 1, the first support 2 comprises an angle adjusting mechanism and a first support 203, the first support 203 is arranged on the frame 1 through the angle adjusting mechanism, the first support 203 is used for installing a corner laser radar, the angle adjusting mechanism is used for adjusting the angle of the first support 203 relative to the frame 1, and the position of the angle adjusting mechanism on the frame 1 can be adjusted.

The second bracket 3 is arranged at the top and/or the side of the frame 1, and the second bracket 3 is used for mounting a laser radar or a millimeter wave radar. The third bracket 4 is arranged at the side part of the frame 1, and the third bracket 4 is used for mounting the camera assembly.

Based on the above general description, as a preferred embodiment, as shown in fig. 1, the frame 1 of the present embodiment includes a bottom frame 101 and a top frame 102, the bottom frame 101 and the top frame 102 are connected by a plurality of first vertical beams 103, and the first vertical beams 103 and the bottom frame 101, and the first vertical beams 103 and the top frame 102 are connected by first corner brace assemblies.

It should be noted that, in the specific configuration, the first vertical beam 103, the bottom frame 101 and the top frame 102 are made of aluminum alloy sections with square cross sections, and the bottom frame 101 and the top frame 102 are preferably rectangular, so that the whole frame 1 is rectangular, and meanwhile, it should be noted that the size and shape of the frame 1 can be set and adjusted according to the size and shape (outline) of the vehicle to be simulated by the sensor position simulation tool.

Specifically, as shown in fig. 1, the bottom frame 101 is constructed by two bottom cross beams 1011 and two bottom longitudinal beams 1012, and the top frame 102 is constructed by two top cross beams 1021 and two top longitudinal beams 1022 in an overlapping manner, that is, in actual application, the connection between the bottom frame 101 and each first vertical beam 103 is realized by connecting the bottom cross beam 1011 and each corresponding first vertical beam 103 and connecting the bottom longitudinal beam 1012 and each corresponding first vertical beam 103, and in order to improve the structural strength of the bottom frame, a reinforcing structure may be further provided on the bottom frame 101 or the top frame 102 according to actual reinforcing requirements, for example, the bottom longitudinal beam 1012 is additionally provided on the bottom frame 101, and the top cross beam 1021 is additionally provided on the top frame 102.

Meanwhile, in order to ensure the stability of the overall structure of the frame 1, a connecting beam which is arranged along the circumferential direction of the frame 1 and is used for connecting each first vertical beam 103 can be further arranged on the side part of the frame 1, the connecting beam comprises a connecting cross beam 104 which is matched with the bottom cross beam 1011 or the top cross beam 1021, and a connecting longitudinal beam 105 which is matched with the bottom longitudinal beam 1012 or the top longitudinal beam 1022, and the connecting cross beam 104 and the connecting longitudinal beam 105 can be made of aluminum alloy profiles with square cross sections.

Of course, between bottom crossbeam 1011 and the bottom longeron 1012, between top crossbeam 1021 and the top longeron 1022, between bottom crossbeam 1011 and the first upright roof beam 103, between bottom longeron 1012 and the first upright roof beam 103, between top crossbeam 1021 and the first upright roof beam 103, between top longeron 1022 and the first upright roof beam 103, the tie-beam with correspond each first upright roof beam 103 of being connected between, all can adopt first corner brace subassembly to link to each other, with this, can adjust in a flexible way and change the structural configuration and the overall dimension of frame 1, and then reach the effect of simulation real car.

The first corner brace component and the second corner brace component can adopt common corner brace products in the prior art, the using mode of the first corner brace component is the same as that of the corner brace products in conventional technical means, for example, corner brace fixing grooves arranged along the length direction of the first corner brace component are formed in the side wall of each aluminum alloy section, the head of a bolt in the first corner brace component can slide in the corner brace fixing grooves, the position of the first corner brace component can be flexibly adjusted, and the corner brace is fastened on the aluminum alloy sections through bolts and nuts, so that convenient connection between the two aluminum alloy sections can be conveniently realized, and the whole construction of the frame 1 can be conveniently realized.

Preferably, as shown in fig. 3, the angle adjustment mechanism of the present embodiment employs a hinge assembly including a first hinge 201 and a second hinge 202. The fixed end 2011 of the first hinge is connected to the first upright beam 103, the movable end 2012 of the first hinge is connected to the fixed end 2021 of the second hinge, and the movable end 2022 of the second hinge is connected to the first support 203. So set up, simple structure, low cost, and easily make and dismouting.

In specific implementation, the rotation direction of the movable end 2012 of the first hinge and the rotation direction of the movable end 2022 of the second hinge are preferably vertically arranged, so as to achieve angle adjustment of the angle lidar in two vertical directions, and in use, on the premise of ensuring that the rotation direction of the movable end 2012 of the first hinge and the rotation direction of the movable end 2022 of the second hinge are vertically arranged, the rotation directions of the two can be set according to requirements, for example, the rotation direction of the movable end 2012 of the first hinge can be specifically along a horizontal direction (in the state shown in fig. 1), and the rotation direction of the movable end 2022 of the second hinge can be specifically along a vertical direction (in the state shown in fig. 1).

Referring to fig. 2, the first hinge 201 of the present embodiment is provided on the first vertical beam 103 by a first bolt. When the first upright beam 103 is specifically arranged, a first fixing groove 1031 arranged along the length direction of the first upright beam 103 is arranged, the first bolt is arranged on a fixed end 2011 of the first hinge, and the head of the first bolt is arranged in the first fixing groove 1031 in a sliding manner.

From this, do benefit to and acquire simple structure, the dismouting of being convenient for and the convenient advantage of position control, wherein, through the mode of the first bolt of elasticity, alright realize the position control of first hinge 201 stiff end on first upright beam 103. In addition, when the aluminum alloy section bar is specifically arranged, the first fixing groove 1031 and the corner brace fixing groove are both formed by section bar grooves arranged on the side wall of the aluminum alloy section bar along the length of the aluminum alloy section bar.

In addition, in a preferred embodiment, in this embodiment, the second bracket 3 includes a second upright beam 301 disposed on the side of the bottom frame 101 and/or the top of the top frame 102, and a second pedestal 302 disposed on the second upright beam 301, the laser radar or the millimeter wave radar is mounted on the second pedestal 302, and the second upright beam 301 is disposed in parallel with the first upright beam 103.

In specific implementation, the second vertical beam 301 is connected to the bottom frame 101 or the top frame 102 through a second corner brace assembly, so as to facilitate the position adjustment of the second vertical beam 301 relative to the bottom frame 101 or the top frame 102. The second vertical beam 301 is made of the same aluminum alloy section as the first vertical beam 103, and the second corner brace assembly has the same structure and the same use manner as the first corner brace assembly, and is not further described herein.

Meanwhile, the second support 302 and the second vertical beam 301 are also preferably arranged in a position-adjustable manner, and a specific connection manner may be, for example, a threaded connection, so as to facilitate position adjustment of the second support 302 on the second vertical beam 301 (along the length direction of the second vertical beam 301).

In this embodiment, as shown in fig. 6, preferably, the second support 302 and the second upright beam 301 are connected by a connecting mechanism, and the second support 302 is detachably mounted on the connecting mechanism. Therefore, the second support 3 can be suitable for mounting radars of different models by replacing the second support 302, and the application range of the second support 3 is enlarged.

During specific setting, preferably, the connecting mechanism includes an adapter 303 and a third hinge 304, the second support 302 is disposed on the adapter 303, the adapter 303 is connected to the second vertical beam 301 through the third hinge 304, and the third hinge 304 is adjustable along the length direction of the second vertical beam 301.

During the use, also the stiff end 3041 of third hinge can be along the second and found roof beam 301 length direction position control, and then realizes that second support 302 stands the ascending position control of roof beam 301 length direction along the second, and sets up adapter 303, then can reduce the frequency and the degree of difficulty of dismantling the hinge, does benefit to the maintenance of second support 3 and the change of second support 302.

In addition, the rotating direction of the movable end 3042 of the third hinge can be set and adjusted according to the actual angle requirement of the millimeter wave radar, for example, the movable end 3042 can rotate in the horizontal direction (in the state shown in fig. 1).

It should be noted that the second support 3 has two different structural forms, one of which is the structure shown in fig. 4 and 5, in this case, the second support 3 includes two second vertical beams 301 arranged at intervals, and second supports 302 arranged on the two second vertical beams 301 for mounting the laser radar, and the second supports 302 are adjustably arranged on each second vertical beam 301. This design of the second carrier 3 is used primarily for the mounting of sensors with position adjustment, but without angle adjustment.

In another structure of the second bracket 3, as shown in fig. 6, in this case, the second bracket 3 includes a second vertical beam 301, a second support 302 arranged on the second vertical beam 301 for mounting the millimeter wave radar, and a connecting mechanism arranged between the second vertical beam 301 and the second support 302 for adjusting an angle of the second support 302. This design of the second support 3 is used primarily for installations with both position and angle adjustment requirements.

In addition, as shown in fig. 1, in this embodiment, the third support 4 has a third support 401 and an angle adjusting portion, the third support 401 is disposed on the first vertical beam 103 through the angle adjusting portion, and the camera module is mounted on the third support 401, and meanwhile, the position of the angle adjusting portion along the length direction of the first vertical beam 103 is adjustable, and the angle adjusting portion is used for adjusting the angle of the camera module. So set up, can do benefit to the position control and the angle modulation who realize camera subassembly.

In specific implementation, the third stent 4 has two structural forms, one of which is shown in fig. 7 and 9, in this case, the angle adjusting part of the third stent 4 adopts a fourth hinge 402, wherein a fixed end 4021 of the fourth hinge is adjustably disposed on the first upright beam 103, and a movable end 4022 of the fourth hinge is connected to the third support 401.

It should be noted that the structural form of the third bracket 4 shown in fig. 7 and fig. 9 is mainly different from that of the third support 401, the third support 401 shown in fig. 7 is directly made of an aluminum alloy section with a square cross section, the third support 401 shown in fig. 9 is a mounting plate with a substantially L-shaped cross section, and the rotation direction of the movable end 4022 of the fourth hinge can be set and adjusted accordingly according to the actual angle adjustment requirement of the camera head assembly, for example, can be rotated in the vertical direction.

Another structural form of the third bracket 4 is shown in fig. 8, in this case, the angle adjusting portion of the third bracket 4 is formed by a fourth hinge 402 and a fifth hinge 403, a fixed end 4021 of the fourth hinge is connected to the first upright beam 103, a movable end 4022 of the fourth hinge is connected to a fixed end 4031 of the fifth hinge, a movable end 4032 of the fifth hinge is connected to the third support 401, and the third support 401 is directly made of an aluminum alloy section with a square cross section.

As for the rotation direction of the movable end 4022 of the fourth hinge and the rotation direction of the movable end 4032 of the fifth hinge, they are preferably vertically arranged, and in particular, the rotation direction of the movable end 4022 of the fourth hinge may be, for example, along the vertical direction, and the rotation direction of the movable end 4032 of the fifth hinge may be, for example, along the horizontal direction.

It is worth mentioning that, in this embodiment, based on the size and shape adjustment of the whole frame 1, the simulation of vehicle models with different sizes and shapes can be realized, and based on the design of the first support 2, the second support 3 and the third support 4, the position simulation of different sensors on the vehicle body can be realized, and the adjustable requirement of the arrangement positions of the sensors in different scenes can be realized, so that the compatibility is better, the development cost can be reduced, and the development period can be saved.

The sensor position simulation frock of unmanned vehicle of this embodiment, through first support 2, the cooperation setting of second support 3 and third support 4, can realize the convenient dismouting of multiple different grade type sensor on this sensor position simulation frock, and each support is adjustable in position on frame 1, in order can simulate the integrated arrangement of different grade type sensor on the automobile body, and simultaneously, first support 2 passes through angle adjustment mechanism, still can realize angle laser radar's focus degree and adjust, can do benefit to survey angle laser radar's best installation angle, and can satisfy the test demand that unmanned vehicle before falling to the ground was arranged to the best integration of each sensor better.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a sensor position simulation frock of unmanned vehicle which characterized in that:

the device comprises a frame (1), and a first support (2), a second support (3) and a third support (4) which are arranged on the frame (1), wherein the first support (2), the second support (3) and the third support (4) are multiple and are all adjustable in position on the frame (1);

the first support (2) is arranged at the corner of the frame (1), the first support (2) comprises an angle adjusting mechanism and a first support (203), the first support (203) is arranged on the frame (1) through the angle adjusting mechanism, the first support (203) is used for mounting an angle laser radar, the angle adjusting mechanism is used for adjusting the angle of the first support (203) relative to the frame (1), and the angle adjusting mechanism is arranged on the frame (1) in an adjustable manner;

the second bracket (3) is arranged at the top and/or the side of the frame (1), and the second bracket (3) is used for mounting a laser radar or a millimeter wave radar;

the third support (4) is arranged on the side of the frame (1), and the third support (4) is used for mounting a camera assembly.

2. The tool for simulating the sensor position of the unmanned vehicle according to claim 1, wherein:

the frame (1) comprises a bottom frame (101) and a top frame (102), wherein the bottom frame (101) and the top frame (102) are connected through a plurality of first vertical beams (103);

the first vertical beam (103) is connected with the bottom frame (101), and the first vertical beam (103) is connected with the top frame (102) through a first angle bracket assembly.

3. The tool for simulating the sensor position of the unmanned vehicle according to claim 2, wherein:

the angle adjustment mechanism employs a hinge assembly including a first hinge (201) and a second hinge (202);

the stiff end (2011) of first hinge with it links to each other to stand first roof beam (103), and loose end (2012) of first hinge links to each other with stiff end (2021) of second hinge, and loose end (2022) of second hinge with first seat (203) link to each other.

4. The tool for simulating the sensor position of the unmanned vehicle according to claim 3, wherein:

the rotating direction of the movable end (2012) of the first hinge is perpendicular to the rotating direction of the movable end (2022) of the second hinge.

5. The tool for simulating the sensor position of the unmanned vehicle according to claim 3, wherein:

the first hinge (201) is arranged on the first vertical beam (103) through a first bolt;

be equipped with on first upright beam (103) along the first fixed slot (1031) that self length direction arranged, first bolt is located on the stiff end (2011) of first hinge, just the head of first bolt slides and locates in first fixed slot (1031).

6. The tool for simulating the sensor position of the unmanned vehicle according to claim 2, wherein:

the second support (3) comprises a second vertical beam (301) arranged on the side of the bottom frame (101) and/or the top of the top frame (102), and a second support (302) arranged on the second vertical beam (301), the laser radar or the millimeter wave radar is arranged on the second support (302), and the second vertical beam (301) and the first vertical beam (103) are arranged in parallel.

7. The tool for simulating the sensor position of the unmanned vehicle according to claim 6, wherein:

the second vertical beam (301) is connected to the bottom frame (101) or the top frame (102) through a second corner brace assembly.

8. The tool for simulating the sensor position of the unmanned vehicle according to claim 6, wherein:

the second support (302) is connected with the second vertical beam (301) through a connecting mechanism, and the second support (302) is detachably mounted on the connecting mechanism.

9. The tool for simulating the sensor position of the unmanned vehicle according to claim 8, wherein:

the connecting mechanism comprises an adapter (303) and a third hinge (304);

the second support (302) is arranged on the adapter (303), and the adapter (303) is connected to the second vertical beam (301) through the third hinge (304);

the third hinge (304) is adjustable in position along the length direction of the second vertical beam (301).

10. The tool for simulating a sensor position of an unmanned vehicle according to any one of claims 2 to 9, wherein:

the third bracket (4) is provided with a third support (401) and an angle adjusting part;

the third support (401) is arranged on the first vertical beam (103) through the angle adjusting part, and the camera assembly is arranged on the third support (401);

the angle adjusting part is adjustable along the length direction of the first vertical beam (103), and the angle adjusting part is used for adjusting the angle of the camera assembly.

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