CN219115386U - Sensing device and vehicle - Google Patents

Abstract

The present disclosure relates to a sensing device and a vehicle. The sensing device is arranged on a vehicle body of a vehicle, and the sensing device comprises: the first sensing assemblies are arranged at the top of the vehicle body at intervals; and the second sensing assemblies are arranged on the vehicle body at intervals and close to the bottom of the vehicle. The first sensing component at the top of the vehicle body is matched with the second sensing component near the bottom of the vehicle to sense the surrounding environment when the vehicle runs, so that the comprehensive sensing of the surrounding environment when the vehicle runs is realized, and the safety of the vehicle during running is ensured.

Description

Sensing device and vehicle

RELATED APPLICATIONS

The present application claims priority from chinese patent application No. 2022202294669 entitled "sensing device and vehicle" filed on day 27, 1, 2022.

Technical Field

The disclosure relates to the technical field of vehicle equipment, in particular to a sensing device and a vehicle.

Background

At present, for an automatic driving vehicle, a sensor is generally integrated on the top of the automatic driving vehicle body, the surrounding environment of the automatic driving vehicle is sensed through the sensor, the automatic driving vehicle controls the automatic driving vehicle to run according to the fed-back surrounding environment, the purpose of automatic driving is achieved, and the safety of automatic driving is ensured.

Currently, sensors of an autonomous vehicle are integrally provided on the roof of the vehicle body, and the surrounding environment is sensed by the sensors on the roof of the vehicle body. However, there is a blind sensing area at a lower position around the vehicle, and the roof sensor of the vehicle body cannot sense the blind sensing area, so that the safety of the running of the vehicle is affected.

Disclosure of Invention

In view of this, it is necessary to provide a sensor device and a vehicle capable of realizing a comprehensive sense of the surrounding environment, in order to solve the problem that a sensor at the top of a vehicle body has a sense blind area when the vehicle is currently driven by an automatic driving vehicle.

A sensing device provided in a body of a vehicle, the sensing device comprising:

the first sensing assemblies are arranged at the top of the vehicle body at intervals; and

the second sensing assemblies are arranged on the vehicle body at intervals and close to the bottom of the vehicle.

In an embodiment of the disclosure, the first sensing assembly includes a mounting housing, a circuit board, a first detection radar and a first image acquisition component, the first detection radar and the first image acquisition component are disposed in the mounting housing and electrically connected with the circuit board, and the circuit board is electrically connected with a controller of the vehicle.

In an embodiment of the disclosure, the first sensing assembly further includes a transparent window disposed on the mounting housing and corresponding to the first detection radar and/or the first image acquisition component;

and/or the first detection radar and/or the first image acquisition component extend out of the mounting housing.

In an embodiment of the disclosure, the plurality of first sensing assemblies are detachably disposed around the top of the vehicle body.

In an embodiment of the disclosure, the sensing device further includes a first fixing component, where the first fixing component is separately disposed on top of the first sensing component and top of the vehicle body, and the first fixing component is used to detachably mount the first sensing component on top of the vehicle body.

In an embodiment of the disclosure, the first fixing component includes an absorbing member and a mating member, the absorbing member is disposed in the mounting housing, the mating member is disposed at a top of the vehicle body, and the absorbing member is capable of absorbing the mating member.

In an embodiment of the disclosure, the sensing device further includes a second fixing component, where the second fixing component is separately disposed on top of the first sensing component and the vehicle body, and the second fixing component is used to detachably mount the first sensing component on top of the vehicle body.

In an embodiment of the disclosure, the second fixing component includes a first fastening piece and a second fastening piece, the first fastening piece is disposed at the bottom of the installation housing, the second fastening piece is disposed at the top of the vehicle body, and the first fastening piece and the second fastening piece are fastened and connected;

the first clamping piece and the second clamping piece are of a clamping groove matching structure.

In an embodiment of the disclosure, a plurality of the second sensing assemblies are respectively disposed around the vehicle body.

In an embodiment of the disclosure, the second sensing component includes a second detection radar and a second image acquisition component, the second detection radar and the second image acquisition component are integrally disposed on the vehicle body, and the second detection radar and the second image acquisition component are electrically connected to a controller of the vehicle.

In an embodiment of the disclosure, the distance between the second sensing component and the ground is 15 cm-40 cm.

In an embodiment of the disclosure, the number of the first sensing assemblies is four, and the four first sensing assemblies are respectively arranged at four corners of the top of the vehicle body;

the number of the second sensing assemblies is six, two of the second sensing assemblies are respectively arranged on two sides of the vehicle body, and the other four second sensing assemblies are respectively arranged on the front and rear sides of the vehicle body.

A vehicle comprising a body and a sensing device according to any one of the above technical features; the first sensing component of the sensing device is arranged at the top of the vehicle body, and the second sensing component of the sensing device is arranged at the side surface of the vehicle body.

In one embodiment of the disclosure, the top of the vehicle body is provided with a plurality of first mounting grooves which are arranged at intervals and are used for mounting the first sensing assemblies; the side of the car body is provided with a plurality of second mounting grooves which are arranged at intervals, and the second mounting grooves are used for mounting the second sensing assemblies.

The sensing device and the vehicle are characterized in that a plurality of first sensing assemblies are arranged on the top of the vehicle body in a sensing mode, and the first sensing assemblies can sense the surrounding environment of the vehicle when the vehicle runs at a higher position of the vehicle and feed back to a controller of the vehicle. The plurality of second sensing assemblies are arranged on the body of the vehicle at intervals and near the bottom of the vehicle, and the second sensing assemblies are used for sensing the surrounding environment of the vehicle when the vehicle runs at a lower position of the vehicle and feeding back to the controller. The controller can control the vehicle to run according to the surrounding environment when the first sensor component and the second sensor component feed back the vehicle to run. According to the sensing device, the first sensing component at the top of the vehicle body is matched with the second sensing component close to the bottom of the vehicle to sense the surrounding environment when the vehicle runs, the problem that a sensor at the top of the vehicle body has a sensing blind area when the vehicle runs in the current automatic driving mode is effectively solved, the comprehensive sensing of the surrounding environment when the vehicle runs is realized, and the safety when the vehicle runs is guaranteed.

Drawings

FIG. 1 is a layout view of a first sensing assembly on top of a vehicle body in a sensing device according to an embodiment of the present disclosure;

FIG. 2 is a layout view of a second sensor assembly of a sensor device according to an embodiment of the present disclosure in a position near the bottom of a vehicle body;

FIG. 3 is a schematic view of the first sensing assembly shown in FIG. 1;

FIG. 4 is an exploded view of the first sensing assembly shown in FIG. 3;

FIG. 5 is a schematic view of the first sensing assembly of FIG. 3 coupled to a roof of a vehicle body;

FIG. 6 is a schematic view of the first sensing assembly of FIG. 5 separated from the top of the vehicle body;

FIG. 7 is a schematic illustration of the attachment and detachment of the second sensing assembly of FIG. 2 at a location on the vehicle body;

FIG. 8 is a schematic illustration of the attachment and detachment of the second sensing assembly of FIG. 2 at another location on the vehicle body.

Wherein: 100. a sensing device; 110. a first sensing assembly; 111. a mounting shell; 112. a first detection radar; 113. a first image acquisition section; 114. a circuit board; 115. a transparent window; 120. a second sensing assembly; 121. a second detection radar; 122. a second image acquisition section; 131. an absorbing member; 132. a mating member; 140. a second fixing assembly; 141. a first clamping piece; 142. a second clamping piece; 200. a vehicle body.

Detailed Description

In order that the above-recited objects, features and advantages of the present disclosure will become more readily apparent, a more particular description of the disclosure will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. The present disclosure may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the disclosure, and therefore the disclosure is not to be limited to the specific embodiments disclosed below.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present disclosure.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly specified otherwise.

In the present disclosure, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In this disclosure, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1 and 2, the present disclosure provides a sensing device 100. The sensing device 100 is applied to a vehicle, is arranged on a vehicle body 200 of the vehicle, is used for sensing the surrounding environment in the running process of the vehicle, and is fed back to a controller of the vehicle, so that the vehicle can run according to the surrounding environment sensed by the sensing device 100, and the safety in the running process of the vehicle is ensured.

Optionally, the sensing device 100 may be applied to an automatically driven vehicle, where the automatically driven vehicle can generate a driving track according to the surrounding environment fed back by the sensing device 100, so as to accurately avoid an obstacle, so as to ensure the safety of the automatically driven vehicle. Of course, in other embodiments of the present disclosure, the sensing device 100 may be applied to a manually driven vehicle, and after the sensing device 100 feeds back the surrounding environment, the driver can be prompted whether there is an obstacle around the driving, so as to achieve the purpose of accurately avoiding the obstacle, and ensure the driving safety.

It will be appreciated that currently sensors of autonomous vehicles are integrated on the roof of the vehicle body, through which the surrounding environment is sensed. However, there is a blind sensing area at a lower position around the vehicle, and the roof sensor of the vehicle body cannot sense the blind sensing area, so that the safety of the running of the vehicle is affected.

For this reason, the present disclosure provides a novel sensing device 100, where the sensing device 100 can realize the overall sensing of the surrounding environment of the vehicle, avoid the occurrence of a sensing blind area, and ensure the driving safety of the vehicle. The following describes a specific structure of the sensing device 100.

Referring to fig. 1 and 2, in one embodiment, the sensing device 100 includes a plurality of first sensing components 110 and a plurality of second sensing components 120. The plurality of first sensing assemblies 110 are disposed at intervals on the top of the vehicle body 200. The plurality of second sensing assemblies 120 are disposed at intervals on the vehicle body 200 and are disposed near the bottom of the vehicle.

The sensing device 100 is disposed around the whole vehicle to realize sensing of the surrounding environment of the vehicle, and prevent the generation of blind areas at a lower position. In this way, the sensing device 100 can fully sense the information of the surrounding environment of the vehicle and feed back the information to the controller of the vehicle, and the controller of the vehicle can control the vehicle to run according to the surrounding environment fed back by the sensing device 100, so that the safety in the running process of the vehicle is ensured.

Specifically, the sensing device 100 includes a first sensing component 110 and a second sensing component 120, where the first sensing component 110 is disposed on top of the vehicle body 200, and the first sensing component 110 is configured to sense a surrounding environment of the vehicle on top of the vehicle, and obtain surrounding environment information of the vehicle. The second sensing assembly 120 is disposed on the body 200 of the vehicle and near the bottom of the vehicle, and the second sensing assembly 120 is used for sensing the surrounding environment of the lower position of the vehicle and acquiring the surrounding environment information of the lower position.

That is, the sensing device 100 of the present disclosure is divided into at least two layers, so as to realize the perception of the surrounding environments of different heights of the vehicle, achieve the purpose of blind supplement, realize the comprehensive detection of the surrounding environments of the vehicle, and ensure the safety of the vehicle during the driving process. In the present disclosure, only the sensing device 100 is divided into two layers, and the design principle of the sensing device 100 divided into more layers is substantially the same as the design principle of the sensing device divided into two layers, which is not described herein.

The first sensing component 110 of the sensing device 100 is located at the top layer, the second sensing component 120 is located at the bottom layer, and the first sensing component 110 has a larger sensing angle after the first sensing component 110 is located at the top of the vehicle body 200, so that accuracy of sensing the surrounding environment of the vehicle is guaranteed. The second sensing component 120 is disposed on the bottom layer, that is, the blind-complement sensing component, and can sense the surrounding environment at a lower position. That is, after the first sensing component 110 on the top layer senses the surrounding environment, a blind area exists at a lower position, so that the second sensing component 120 is arranged to complement the blind area, and the surrounding environment at the lower position is sensed by the second sensing component 120.

The first sensing component 110 and the second sensing component 120 sense that the surrounding environment information of the vehicle is the whole surrounding environment information of the vehicle, after the first sensing component 110 and the second sensing component 120 feed back the surrounding environment information to control, the controller can process the received surrounding environment information to generate corresponding control information, and the controller can control the vehicle to run according to the control information so as to ensure the safety in the running process of the vehicle.

Alternatively, the number of the first sensing assemblies 110 is plural, and the plural first sensing assemblies 110 are disposed at intervals along the top of the vehicle body 200. After the first sensing assemblies 110 are arranged to be multiple, the first sensing assemblies 110 can be located at the edge position of the top of the vehicle body 200, and the middle area of the top of the vehicle body 200 is not required to be arranged, so that the vehicle body 200 can be prevented from blocking the view angle of the first sensing assemblies 110, the accuracy of sensing the surrounding environment of the first sensing assemblies 110 is ensured, meanwhile, the height of a sensor arranged in the middle area is reduced, and the overall height of the vehicle is reduced.

After the plurality of first sensing assemblies 110 are arranged at intervals at the top of the vehicle body 200, each first sensing assembly 110 realizes the perception of the surrounding environment in a certain range of the vehicle periphery, and the combination of the surrounding environments perceived by the plurality of first sensing assemblies 110 can realize the perception of the vehicle surrounding environment at the top of the vehicle body 200 and avoid the occurrence of blind areas around the top of the vehicle.

Optionally, the number of second sensing assemblies 120 is plural, and the plurality of second sensing assemblies 120 are spaced along the body 200 of the vehicle and are proximate to the bottom of the vehicle. That is, the plurality of second sensing assemblies 120 can enable perception of the vehicle surroundings at a lower location. Each second sensing component 120 corresponds to environmental perception within a certain range at a lower position of the vehicle, and after the plurality of second sensing components 120 are combined, the surrounding environmental perception of the vehicle at the lower position can be realized, so that the blind supplementing purpose is achieved.

In the sensing device 100 of the above embodiment, the first sensing component 110 at the top of the vehicle body 200 is matched with the second sensing component 120 near the bottom of the vehicle to sense the surrounding environment when the vehicle runs, so that the problem that the sensor at the top of the vehicle body has a sensing blind area when the vehicle runs in the current automatic driving mode is effectively solved, the comprehensive sensing of the surrounding environment when the vehicle runs is realized, and the safety when the vehicle runs is ensured.

Referring to fig. 1, 3 to 6, in an embodiment, the first sensing assembly 110 includes a mounting housing 111, a circuit board 114, a first detection radar 112, and a first image acquisition member 113, wherein the first detection radar 112 and the first image acquisition member 113 are disposed in the mounting housing 111 and electrically connected to the circuit board 114, and the circuit board 114 is electrically connected to a controller of the vehicle.

The installation casing 111 plays a protective role for protecting each part of the first sensing assembly 110, avoiding dust and impurities from entering the first sensing assembly 110, avoiding misoperation of operators, and ensuring the usability of the first sensing assembly 110. Furthermore, the mounting housing 111 also enables the first sensing assembly 110 to be mounted to the top of the vehicle body 200, and the mounting housing 111 enables the first sensing assembly 110 to be formed as a whole, thereby facilitating the mounting and dismounting of the first sensing assembly 110. Alternatively, the mounting housing 111 is made of a metal material, so that structural strength of the mounting housing 111 is ensured, and damage to the mounting housing 111 is avoided.

The circuit board 114 is a signal transmission component of the first sensing assembly 110, the first detection radar 112 is used for sensing an obstacle in the surrounding environment of the vehicle, and the first image acquisition component 113 is used for acquiring the surrounding environment of the vehicle. The first detection radar 112 and the first image acquisition member 113 are electrically connected to a circuit board 114, respectively, and the circuit board 114 is electrically connected to a controller of the vehicle.

The first detection radar 112 and the surrounding information acquired by the first image acquisition unit 113 are processed by the circuit board 114 to generate control information and fed back to the controller of the vehicle, and the controller of the vehicle controls the vehicle to run according to the fed back control information. Of course, in other embodiments of the present disclosure, after the surrounding information acquired by the first detection radar 112 and the first image acquisition unit 113 is fed back to the circuit board 114, the circuit board 114 directly feeds back the surrounding information to the controller, and the controller processes the surrounding information and generates control information, thereby controlling the vehicle to travel.

It should be noted that, the structure of the first sensor assembly 110 is substantially the same as that of the circuit board 114 or the controller, and is not described herein. Alternatively, the first detection radar 112 includes a lidar and a millimeter wave radar. Optionally, the first image acquisition component 113 comprises a video camera and/or a still camera.

Illustratively, the first image pickup section 113 includes a long-distance/medium-distance laser radar, a long-distance/medium-distance millimeter wave radar, and a high-definition camera. The number of the radars and the cameras in the first image acquisition component 113 is at least one to meet the detection requirement of the first sensing component 110. Of course, in other embodiments of the present utility model, the first image capturing section 113 may also employ other types of radars and other types of cameras or video cameras. Alternatively, the first image capturing part 113 may further include a long-distance camera disposed outside the first sensing assembly 110 and disposed at a front side of the top of the vehicle body 200.

Referring to fig. 1, 3 to 6, in an embodiment, the first sensing assembly 110 further includes a transparent window 115, and the transparent window 115 is disposed on the mounting housing 111 and corresponds to the first detection radar 112 and/or the first image capturing component 113, and/or the first detection radar 112 and/or the first image capturing component 113 protrudes from the mounting housing 111.

That is, the detection light emitted from the first detection radar 112 may be emitted through the glass window, or may directly protrude out of the mounting case 111 to achieve direct emission of the detection light; the first image capturing part 113 may capture the surrounding environment through a glass window, or may directly extend out of the mounting case 111 to directly capture the surrounding environment.

In this embodiment, the transparent window 115 is embedded in the installation housing 111 and aligned with the first detection radar 112, and the detection light emitted by the first detection radar 112 can be emitted through the transparent window to sense an obstacle in the surrounding environment. The first image pickup part 113 is embedded in the mounting case 111 such that the first image pickup part 113 is exposed out of the mounting case 111, and the first image pickup part 113 can directly pick up surrounding information.

In other embodiments of the present disclosure, the first detection radar 112 and the first image acquisition component 113 may both perceive the ambient environment through the transparent window 115; the first detection radar 112 and the first image pickup element 113 may be exposed directly from the mounting case 111; of course, the first detection radar 112 may be directly exposed to the mounting case 111, and the first image pickup section 113 may pick up the surrounding environment through the transparent window 115.

Referring to fig. 1, 3 to 6, in an embodiment, a plurality of the first sensing assemblies 110 are detachably disposed around the top of the vehicle body 200. The first sensing assembly 110 is detachably disposed on the top of the vehicle body 200. That is, the first sensing component 110 is configured at the top of the vehicle body 200 in a pluggable manner, so that the first sensing component 110 is firmly connected with the vehicle body 200, and the first sensing component 110 can be conveniently disassembled and replaced, thereby being convenient for maintenance.

It can be appreciated that the first sensor assembly 110 is a main sensor of the sensing device 100, and if the first sensor assembly 110 is damaged, the automatic driving function or related functions of the vehicle cannot be used, and thus the surrounding environment of the vehicle cannot be accurately detected. The first sensing component 110 is detachably arranged, so that the first sensing component 110 can be conveniently maintained and replaced, and the usability of the first sensing component 110 is ensured.

Referring to fig. 1, 3 to 6, in an embodiment, the number of the first sensing assemblies 110 is four, and the four first sensing assemblies 110 are respectively disposed at four corners of the top of the vehicle body 200. At four corner positions of the top of the vehicle body 200, each angle corresponds to one first sensing assembly 110, and the four first sensing assemblies 110 are respectively connected to the controller of the vehicle. Each first sensing component 110 can sense the surrounding environment within a certain range, and four first sensing components 110 are arranged at four corners respectively, so that the sensing of the surrounding environment of the vehicle at the top position can be realized.

Of course, in other embodiments of the present disclosure, the number of first sensing assemblies 110 may also be greater. In an embodiment, the sensing device 100 further includes a first flexible cable, and the first sensing component 110 is electrically connected to a controller of the vehicle through the first flexible cable, so as to implement information transmission.

The first sensing assembly 110 of the present disclosure integrates a laser radar, a millimeter wave radar, and a first image pickup part 113 in a mounting case 111, and is electrically connected with a controller of a vehicle after being sorted by a first flexible cable connection, and the first sensing assembly 110 is arranged in a unit of one corner of the top of a vehicle body 200.

Referring to fig. 1, 3 to 6, in an embodiment, the sensing device 100 further includes a first fixing component, where the first fixing component is disposed on top of the first sensing component 110 and the vehicle body 200, and the first fixing component is used to detachably mount the first sensing component 110 on top of the vehicle body 200.

The first fixing component is used for detachably mounting the first sensing component 110 on the top of the vehicle body 200, so that the first sensing component 110 is convenient to maintain and replace, and the reliability of the first sensing component 110 is further ensured. A portion of the first fixing assembly is disposed at the first sensing assembly 110, and another portion of the first fixing assembly is disposed at the top of the vehicle body 200. The first sensing assembly 110 is detachably mounted to the top of the vehicle body 200 by being detachable between the first fixing assemblies.

In an embodiment, the first fixing component includes an absorbing member 131 and a mating member 132, the absorbing member 131 is disposed in the mounting housing 111, the mating member 132 is disposed on the top of the vehicle body 200, and the absorbing member 131 can absorb the mating member 132.

The adsorption member 131 is disposed in the mounting case 111, and the adsorption member 131 can generate a certain adsorption force. The suction force generated by the suction member 131 can suck the fitting 132 provided at the top of the vehicle body 200 through the mounting case 111, so that the first sensing assembly 110 is fixed to the top of the vehicle body 200. When the first sensing component 110 needs to be disassembled, a larger force is applied to the first sensing component 110 to overcome the adsorption force generated by the adsorption piece 131, so that the adsorption piece 131 is separated from the matching piece 132, and the first sensing component 110 is disassembled.

Alternatively, the attraction member 131 is a magnet, and the engagement member 132 is an iron plate that is attracted to and engaged with the magnet. Of course, in other embodiments of the present disclosure, the adsorbing member 131 and the mating member 132 may have other structures capable of being fixed by adsorption. Of course, in other embodiments of the present disclosure, the positions of the adsorbing member 131 and the mating member 132 may be interchanged, i.e., the adsorbing member 131 is disposed at the top of the vehicle body 200, and the mating member 132 is disposed in the mounting housing 111.

Referring to fig. 1, 3 to 6, in an embodiment, the sensing device 100 further includes a second fixing component 140, where the second fixing component 140 is separately disposed on top of the first sensing component 110 and the vehicle body 200, and the second fixing component 140 is used for detachably mounting the first sensing component 110 on top of the vehicle body 200.

The second fixing component 140 is used for detachably mounting the first sensing component 110 on the top of the vehicle body 200, so that the first sensing component 110 is convenient to maintain and replace, and the reliability of the first sensing component 110 is further ensured. A portion of the second fixing assembly 140 is disposed at the first sensing assembly 110, and another portion of the second fixing assembly 140 is disposed at the top of the vehicle body 200. The first sensing assembly 110 is detachably mounted to the top of the vehicle body 200 by being detachable between the second fixing assemblies 140.

In an embodiment, the second fixing component 140 includes a first fastening member 141 and a second fastening member 142, the first fastening member 141 is disposed at the bottom of the installation housing 111, the second fastening member 142 is disposed at the top of the vehicle body 200, and the first fastening member 141 is fastened to the second fastening member 142.

The first fastening member 141 is disposed at the bottom of the mounting case 111, and the second fastening member 142 is disposed at the top of the vehicle body 200. The first fastening member 141 can be fastened to the second fastening member 142, and can also be disengaged from the second fastening member 142, so as to realize detachable connection of the first sensing assembly 110 with respect to the top of the vehicle body 200.

When the first sensing component 110 needs to be installed, the first clamping firmware 141 is aligned to the second clamping firmware 142, and the first sensing component 110 is pressed, so that the first clamping firmware 141 and the second clamping firmware 142 are buckled and connected, and the first sensing component 110 is fixed to the top of the vehicle body 200. When the first sensing component 110 is disassembled, the first sensing component 110 is pressed so that the first clamping piece 141 is separated from the second clamping piece 142, and at this time, the first sensing component 110 can be removed from the top of the vehicle body 200.

Optionally, the first clamping member 141 and the second clamping member 142 are in a snap-fit structure. That is, the first fastening member 141 is a fastener, and the second fastening member 142 is a slot. The buckle can be connected with the clamping groove in a buckling way. When the first sensing component 110 is pressed, the buckle can be buckled into the clamping groove; when the first sensing component 110 is pressed again, the buckle can be removed from the clamping groove.

Of course, in other embodiments of the present disclosure, the first fastening member 141 may be a slot, and the second fastening member 142 may be a buckle. Of course, in other embodiments of the present disclosure, the first fastening member 141 and the second fastening member 142 may be other components capable of implementing a snap-fit connection between the first sensor assembly 110 and the top of the vehicle body 200.

It should be noted that the first sensor assembly 110 may be detachably mounted to the top of the vehicle body 200 only by the first fixing assembly, or may be detachably mounted to the top of the vehicle body 200 only by the second fixing assembly 140, both of which are mentioned above. Of course, the first sensing component 110 can also be detachably mounted on the top of the vehicle body 200 by adopting the combination of the first fixing component and the second fixing component 140, so that the first sensing component 110 and the vehicle body 200 can be firmly connected, and meanwhile, the disassembly is convenient.

Referring to fig. 1, 3 to 6, the first fixing member and the second fixing member 140 are located at the same position. When the first sensing component 110 is installed, the first sensing component 110 is placed at the top of the vehicle body 200, and the adsorption force generated by the adsorption piece 131 can adsorb the matching piece 132 at the top of the vehicle body 200, so that the first sensing component 110 is fixed at the top of the vehicle body 200. Then, the first sensing component 110 is pressed, so that the first clamping piece 141 is buckled with the second clamping piece 142, and the fixing of the first sensing component 110 is further realized, so that the fixing reliability of the first sensing component 110 is ensured.

When the first sensing component 110 is disassembled, the first sensing component 110 is pressed, so that the first clamping piece 141 is removed from the second clamping piece 142, and at this time, the first sensing component 110 is only in adsorption connection with the matching piece 132 through the adsorption piece 131. The first sensor assembly 110 is applied with a large force to overcome the adsorption force generated by the adsorption member 131, so that the first sensor assembly 110 is removed from the top of the vehicle body 200, and the first sensor assembly 110 is disassembled, and at this time, the first sensor assembly 110 can be maintained and replaced.

Referring to fig. 2, 7 and 8, in one embodiment, a plurality of the second sensing assemblies 120 are respectively disposed around the vehicle body 200. That is, the plurality of second sensing assemblies 120 are disposed at the front side, the rear side, and the left and right sides of the vehicle body 200, respectively, and are disposed near the bottom of the vehicle, i.e., the plurality of second sensors 120 are disposed at the vehicle body 200 near the bottom, respectively, as shown in fig. 2. In this way, the first sensing component 110 is able to achieve a perception of the surrounding environment at a lower location.

Optionally, the second sensing assembly 120 is secured to the body 200 by an integrated manner. That is, the second sensing assembly 120 is not detachable. It can be appreciated that the second sensing assembly 120 is fixed to the vehicle body 200, and is integrally formed with the vehicle body 200, so as to ensure the aesthetic appearance of the vehicle. Moreover, since the second sensing component 120 is an auxiliary sensing component, the surrounding environment at the blind area is mainly supplemented, and if the second sensing component 120 is damaged, the normal running of the vehicle is not affected. Therefore, the second sensor assembly 120 is fixed to the vehicle body 200, which is convenient to use and prevents falling.

Of course, in other embodiments of the present disclosure, the second sensing assembly 120 may also be detachably secured to the vehicle body 200. At this time, the second sensing component 120 may have the same detachable structure as the first sensing component 110, which is not described in detail herein.

Referring to fig. 2, 7 and 8, in an embodiment, the second sensing assembly 120 includes a second detection radar 121 and a second image acquisition component 122, the second detection radar 121 and the second image acquisition component 122 are integrally disposed on the vehicle body 200, and the second detection radar 121 and the second image acquisition component 122 are electrically connected to a controller of the vehicle.

The second detection radar 121 is used for realizing the perception of an obstacle in the surrounding environment at the lower position of the vehicle, and the second image acquisition part 122 is used for realizing the acquisition of the surrounding environment at the lower position of the vehicle. The second detection radar 121 and the second image acquisition part 122 are electrically connected to a controller of the vehicle, respectively.

The second detection radar 121 and the surrounding information acquired by the second image acquisition part 122 are fed back to the controller of the vehicle, and the controller processes the surrounding information and generates control information, thereby controlling the running of the vehicle. Alternatively, the second detection radar 121 includes a laser radar and a millimeter wave radar. Optionally, the second image acquisition component 122 includes a video camera and/or a still camera.

Illustratively, the second image acquisition component 122 includes a short range lidar, a short range radar, and a fisheye camera. The number of each radar and the number of cameras in the second image capturing component 122 are at least one, so as to meet the detection requirement of the second sensing component 120. Of course, in other embodiments of the present utility model, the second image acquisition component 122 may also employ other types of radars and other types of cameras or video cameras.

It should be noted that, the specific structural form of the second detection radar 121 is designed according to the actual position, and the form of the second detection radar 121 at each position may be the same or different. Illustratively, as shown in fig. 7 and 8, the second detection radars 121 in the two second sensing assemblies 120 are different in form.

After the second detection radar 121 and the second image acquisition component 122 are installed on the vehicle body 200, the end parts of the second detection radar 121 and the second image acquisition component 122 are both located on the surface of the vehicle body 200, the second detection radar 121 directly emits detection light to realize the perception of obstacles in the surrounding environment, and the second image acquisition component 122 can directly acquire the surrounding environment information.

In one embodiment, the distance between the second sensing component 120 and the ground is 15cm to 40cm. When the distance between the second sensing component 120 and the ground is within the above range, the sensing of the surrounding environment at the lower position of the vehicle can be realized, and the collection of the surrounding environment of the blind area sensed by the first sensing component 110 can be realized. Optionally, the dimensions of each second sensing assembly 120 to the surface are the same and/or different. So long as the second sensing assembly 120 is guaranteed to be capable of achieving the collection of the surrounding environment of the blind area.

Referring to fig. 2, 7 and 8, in an embodiment, the number of the second sensing assemblies 120 is six, wherein two second sensing assemblies 120 are respectively disposed on two sides of the vehicle body 200, and the remaining four second sensing assemblies 120 are respectively disposed on front and rear sides of the vehicle body 200.

Six second sensing assemblies 120 are provided at left and right sides of the front end of the vehicle, at left and right sides of the rear end of the vehicle, and at left and right sides of the vehicle body 200, respectively. This enables a full perception of the surroundings at a lower position of the vehicle. In the present disclosure, the front-rear, left-right direction refers to the direction in which the vehicle advances, the vehicle advancing direction refers to the front end, the rear end refers to the rear end, and the two sides of the vehicle are left-right directions, respectively. Of course, in other embodiments of the present disclosure, the number of second sensing assemblies 120 may also be greater.

Referring to fig. 1 and 2, after the sensing device 100 of the present disclosure adopts the combination of the first sensing component 110 and the second sensing component 120, the surrounding layout of the sensor at the top and the lower position of the vehicle body 200 is realized, so as to realize the sensing of comprehensively covering the periphery of the vehicle and prevent the blind area from occurring at the lower position. Moreover, the first sensing component 110 can be detachably arranged at the top of the vehicle body 200, so that the sensor and the vehicle body 200 can be firmly connected, and the first sensing component 110 can be conveniently detached, and is convenient to maintain and replace. In addition, the first sensing component 110 and the second sensing component 120 adopt a modularized design, so that the sensor can be better fused with the vehicle body 200, adapt to the vehicle shape and reduce the overall height of the vehicle.

The present disclosure also provides a vehicle comprising a body 200 and the sensing device 100 according to any of the above embodiments; the first sensing assembly 110 of the sensing device 100 is disposed at the top of the vehicle body 200, and the second sensing assembly 120 of the sensing device 100 is disposed at the side of the vehicle body 200. After the sensing device 100 of the embodiment is adopted by the vehicle, the dead zone is avoided, and the running safety of the vehicle can be ensured.

In one embodiment, the top of the body 200 has a plurality of first mounting slots spaced apart for mounting the first sensor assembly 110; the side of the vehicle body 200 has a plurality of second mounting grooves disposed at intervals, and the second mounting grooves are used for mounting the second sensing assembly 120.

The first mounting groove is located at the top of the vehicle body 200, and the first sensing assembly 110 is mounted in the first mounting groove. Moreover, the matching piece 132 and the second clamping piece 142 are located in the first mounting groove, so that the first sensing component 110 can be detachably mounted. The second mounting groove is disposed below the vehicle body 200, and the second sensing assembly 120 is fixedly mounted in the second mounting groove.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples represent only a few embodiments of the present disclosure, which are described in more detail and detail, but are not to be construed as limiting the scope of the disclosure. It should be noted that variations and modifications can be made by those skilled in the art without departing from the spirit of the disclosure, which are within the scope of the disclosure. Accordingly, the scope of protection of the present disclosure should be determined by the following claims.

Claims (14)

1. A sensing device provided in a vehicle body of a vehicle, the sensing device comprising:

the first sensing assemblies are arranged at the top of the vehicle body at intervals; and

the second sensing assemblies are arranged on the vehicle body at intervals and close to the bottom of the vehicle.

2. The sensing device of claim 1, wherein the first sensing assembly comprises a mounting housing, a circuit board, a first detection radar and a first image acquisition component disposed in the mounting housing and electrically connected to the circuit board, the circuit board electrically connected to a controller of the vehicle.

3. The sensing device of claim 2, wherein the first sensing assembly further comprises a transparent window disposed in the mounting housing and corresponding to the first detection radar and/or the first image acquisition component;

and/or the first detection radar and/or the first image acquisition component extend out of the mounting housing.

4. The sensing device of claim 2, wherein a plurality of the first sensing assemblies are removably disposed about a top portion of the vehicle body.

5. The sensing device of claim 4, further comprising a first securing assembly disposed on top of the first sensing assembly and the body, the first securing assembly configured to removably mount the first sensing assembly to the top of the body.

6. The sensing device of claim 5, wherein the first securing assembly includes an absorbing member disposed in the mounting housing and a mating member disposed at a top of the vehicle body, the absorbing member being capable of absorbing the mating member.

7. The sensing device of any one of claims 4 to 6, further comprising a second securing assembly disposed on top of the first sensing assembly and the body, the second securing assembly configured to removably mount the first sensing assembly to the top of the body.

8. The sensing device of claim 7, wherein the second fixing component comprises a first clamping piece and a second clamping piece, the first clamping piece is arranged at the bottom of the installation shell, the second clamping piece is arranged at the top of the vehicle body, and the first clamping piece is connected with the second clamping piece in a buckling way;

the first clamping piece and the second clamping piece are of a clamping groove matching structure.

9. The sensor assembly of any one of claims 1 to 6, wherein a plurality of the second sensor assemblies are disposed around the vehicle body, respectively.

10. The sensing device of claim 9, wherein the second sensing assembly comprises a second detection radar and a second image acquisition component, the second detection radar and the second image acquisition component are integrally disposed on the vehicle body, and the second detection radar and the second image acquisition component are electrically connected to a controller of the vehicle.

11. The sensing device of claim 9, wherein the distance between the second sensing assembly and the ground is between 15cm and 40cm.

12. The sensing device according to claim 9, wherein the number of the first sensing assemblies is four, and the four first sensing assemblies are respectively arranged at four corners of the top of the vehicle body;

the number of the second sensing assemblies is six, two of the second sensing assemblies are respectively arranged on two sides of the vehicle body, and the other four second sensing assemblies are respectively arranged on the front and rear sides of the vehicle body.

13. A vehicle comprising a body and a sensing device according to any one of claims 1 to 12; the first sensing component of the sensing device is arranged at the top of the vehicle body, and the second sensing component of the sensing device is arranged at the side surface of the vehicle body.

14. The vehicle of claim 13, wherein a top portion of the body has a plurality of first mounting slots spaced apart for mounting the first sensing assembly; the side of the car body is provided with a plurality of second mounting grooves which are arranged at intervals, and the second mounting grooves are used for mounting the second sensing assemblies.

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