CN220447774U - Vehicle and sensor device thereof - Google Patents

Abstract

The present disclosure provides a sensor device that can conveniently and quickly achieve the position adjustment and cleaning efficacy of a sensor. The sensor device includes a base; the first bracket is arranged on the base through a first shaft body and is used for fixing the sensor; and a second bracket mounted on the first bracket through a second shaft, the second bracket being used for fixing a spray head for cleaning the sensor. The present disclosure also provides a vehicle including the sensor device.

Description

Vehicle and sensor device thereof

Technical Field

The present disclosure relates to the field of vehicle-mounted devices, and in particular, to a vehicle and a sensor device thereof.

Background

Sensors on vehicles are typically configured to sense environmental information of the surrounding environment, which may include cameras, lidar, and the like. The ability of the sensor to sense the surrounding environment is critical to making a proper and safe decision for the vehicle. And the position of the sensor may need to be frequently adjusted due to a change in the vehicle model or a change in perceived demand. The sensor may also be constantly attached with dirt objects during use, thus requiring frequent cleaning. The current solutions for adjusting the sensor position and cleaning the sensor are also complex, and it is necessary to provide a more convenient and faster sensor position adjustment and cleaning solution.

Disclosure of Invention

The present disclosure provides a vehicle and a sensor device thereof, which can conveniently and rapidly adjust the position of a sensor and clean the sensor.

In one aspect of the present disclosure, there is provided a sensor device comprising:

a base;

the first bracket is arranged on the base through a first shaft body and is used for fixing the sensor; and

and the second bracket is arranged on the first bracket through the second shaft body and is used for fixing a spray head which is used for cleaning the sensor.

In another aspect of the present disclosure, a vehicle is provided that includes a sensor device as described above.

The utility model provides a vehicle and sensor device thereof, the sensor of fixing on first support can rotate along with the rotation of first support, and the second support of installing on first support also can rotate, and the shower nozzle of fixing in the second support can rotate along with the rotation of second support to can convenient and fast's position of regulation sensor and shower nozzle, satisfy different detection demands, and guarantee that the shower nozzle can provide clean function for the sensor.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the background of the present disclosure, the following description will explain the drawings that are required to be used in the embodiments or the background of the present disclosure.

Fig. 1 shows a schematic diagram of a vehicle 100 according to one embodiment of the present disclosure.

Fig. 2 and 3 show schematic diagrams of a sensor device according to one embodiment of the present disclosure, respectively.

Fig. 4 shows a partial schematic structure of a sensor device according to an embodiment of the present disclosure.

In the accompanying drawings:

210-a base, 211-a bottom plate, 212-a first side plate, 213-a second side plate, 214-a mounting hole, 215-a first screw hole;

220-a first bracket, 221-a top plate, 222-a third side plate, 223-a nut, 224-a second screw hole, 225-a third screw hole;

230-second bracket, 231-first stopper, 232-second stopper, 233-first opening, 234-fixing member, 235-boss;

240-a first shaft; 250-a second shaft body; 260-sensor; 270-spray head.

Detailed Description

The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

The present disclosure describes a vehicle that can reliably sense environmental information in the surrounding environment, enhancing the perceptibility and environmental adaptability of the vehicle (particularly an autonomous vehicle) to objects in the surrounding environment. Referring to fig. 1, fig. 1 is a schematic diagram of a vehicle 100 in which various techniques disclosed herein may be implemented. The vehicle 100 may be a car, truck, motorcycle, bus, watercraft, aircraft, helicopter, mower, excavator, snowmobile, aircraft, recreational vehicle, amusement park vehicle, farm device, construction device, tram, golf car, train, trolley car, or other vehicle.

The vehicle 100 may operate in an autonomous mode, either entirely or partially. The vehicle 100 may control itself in the automatic driving mode, for example, the vehicle 100 may determine a current state of the vehicle and a current state of an environment in which the vehicle is located, determine a predicted behavior of at least one other vehicle in the environment, determine a trust level corresponding to a likelihood that the at least one other vehicle will perform the predicted behavior, and control the vehicle 100 itself based on the determined information. While in the autonomous mode, the vehicle 100 may operate without human interaction.

Vehicle 100 may include various vehicle systems such as a drive system 142, a sensor system 144, a control system 146, a user interface system 148, a computing system 150, and a communication system 152. Vehicle 100 may include more or fewer systems, each of which may include multiple units. Further, each system and unit of the vehicle 100 may be interconnected. For example, the computing system 150 can be in data communication with one or more of the drive system 142, the sensor system 144, the control system 146, the user interface system 148, and the communication system 152. Thus, one or more of the described functions of the vehicle 100 may be divided into additional functional or physical components or combined into a fewer number of functional or physical components. In a further example, additional functional or physical components may be added to the example shown in fig. 1.

The drive system 142 may include a plurality of operable components (or units) that provide kinetic energy to the vehicle 100. In one embodiment, the drive system 142 may include an engine or motor, wheels, a transmission, an electronic system, and a power source. The engine or motor may be any combination of the following: internal combustion engines, electric machines, steam engines, fuel cell engines, propane engines, or other forms of engines or electric motors. In some embodiments, the engine may convert a source of power into mechanical energy. In some embodiments, the drive system 142 may include a variety of motors or motors. For example, a hybrid electric vehicle may include a gasoline engine and an electric motor, as well as other situations.

The wheels of the vehicle 100 may be standard wheels. The wheels of the vehicle 100 may be in the form of wheels of a variety of types including single, double, three, or four wheels, such as on a car or truck. Other numbers of wheels are possible, such as six or more wheels. One or more wheels of the vehicle 100 may be operated in a different direction of rotation than the other wheels. The wheel may be at least one wheel fixedly connected to the transmission. The wheel may comprise a combination of metal and rubber, or other materials. The transmission may include a unit operable to transmit mechanical power of the engine to the wheels. For this purpose, the transmission may include a gearbox, clutches, differential gears, and drive shafts. The transmission may also include other units. The drive shaft may include one or more axles that mate with the wheels. The electronic system may include a unit for transmitting or controlling electronic signals of the vehicle 100. These electronic signals may be used to activate a plurality of lights, a plurality of servos, a plurality of motors, and other electronic driving or control devices in the vehicle 100. The power source may be an energy source that wholly or partially powers an engine or an electric motor. That is, the engine or motor is capable of converting a power source into mechanical energy. By way of example, the power source may include gasoline, petroleum-based fuels, propane, other compressed gas fuels, ethanol, fuel cells, solar panels, batteries, and other sources of electrical energy. The power source may additionally or alternatively include a fuel tank, a battery, a capacitor, or any combination of flywheels. The power source may also provide energy to other systems of the vehicle 100.

The sensor system 144 may include a plurality of sensors for sensing information of the environment and conditions of the vehicle 100. For example, the sensor system 144 may include an Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS) transceiver (e.g., a Global Positioning System (GPS) transceiver), a radio detection and ranging device (RADAR, abbreviated as millimeter wave RADAR), a laser detection and ranging system (LIDAR, abbreviated as LIDAR), an acoustic sensorAn ultrasonic sensor, and an image capturing device (e.g., a camera). The sensor system 144 may include a plurality of sensors (e.g., oxygen (O ₂ ) Monitors, fuel gauge sensors, engine oil pressure sensors, and temperature, humidity, pressure sensors, etc.). Other sensors may also be configured. One or more sensors included in sensor system 144 may be driven individually or collectively to update the position, orientation, or both of the one or more sensors.

The IMU may include a combination of sensors (e.g., an accelerator and a gyroscope) for sensing positional and directional changes of the vehicle 100 based on inertial acceleration. The GPS transceiver may be any sensor for estimating the geographic location of the vehicle 100. For this purpose, the GPS transceiver may include a receiver/transmitter to provide positional information of the vehicle 100 relative to the earth. It should be noted that GPS is an example of a global navigation satellite system, and thus, in some embodiments, the GPS transceiver may be replaced with a beidou satellite navigation system transceiver or a galileo satellite navigation system transceiver. The radar unit may use radio signals to sense objects in the environment of the vehicle 100. In some embodiments, the radar unit may be used to sense the speed and heading of an object approaching the vehicle 100 in addition to sensing the object. The LIDAR unit may be any sensor that uses a laser to sense objects in the environment of the vehicle 100. In one embodiment, the LIDAR unit may include a laser source, a laser scanner, and a detector. LIDAR units are used to operate in either continuous (e.g., using heterodyne detection) or discontinuous detection modes. The image capturing device may include a device for capturing a plurality of images of the environment in which the vehicle 100 is located. An example of an image capturing device is a camera, which may be a still image camera or a dynamic video camera.

The control system 146 is used to control operation of the vehicle 100 and its components (or units). Accordingly, the control system 146 may include various units such as a steering unit, a power control unit, a braking unit, and a navigation unit.

The steering unit may be a combination of machines that adjust the direction of travel of the vehicle 100. The power control unit (which may be, for example, an accelerator) may be used to control the operating speed of the engine, and thus the speed of the vehicle 100, for example. The braking unit may include a combination of machines for decelerating the vehicle 100. The brake unit may utilize friction to slow the vehicle in a standard manner. In other embodiments, the braking unit may convert the kinetic energy of the wheels into electric current. The brake unit may take other forms as well. The navigation unit may be any system that determines a driving path or route for the vehicle 100. The navigation unit may also dynamically update the driving path during travel of the vehicle 100. The control system 146 may additionally or alternatively include other components (or units) not shown or described.

The user interface system 148 may be used to allow interaction between the vehicle 100 and external sensors, other vehicles, other computing systems, and/or users of the vehicle 100. For example, the user interface system 148 may include a standard visual display device (e.g., a plasma display, liquid Crystal Display (LCD), touch screen display, head mounted display, or other similar display), a speaker or other audio output device, a microphone, or other audio input device. For example, the user interface system 148 may also include a navigation interface and an interface to control the internal environment (e.g., temperature, fans, etc.) of the vehicle 100.

The communication system 152 may provide a means for the vehicle 100 to communicate with one or more devices or other vehicles in the vicinity. In an exemplary embodiment, the communication system 152 may communicate with one or more devices directly or through a communication network. The communication system 152 may be, for example, a wireless communication system. For example, the communication system may use 3G cellular communication (e.g., CDMA, EVDO, GSM/GPRS) or 4G cellular communication (e.g., wiMAX or LTE), and may also use 5G cellular communication. Alternatively, the communication system may communicate with a Wireless Local Area Network (WLAN) (e.g., using WIFI). In some embodiments, the communication system 152 may communicate directly with one or more devices or other vehicles in the vicinity, for example, using infrared, bluetooth, or ZIGBEE. Other wireless protocols, such as various vehicle-mounted communication systems, are also within the scope of the present disclosure. For example, the communication system may include one or more Dedicated Short Range Communication (DSRC) devices, V2V devices, or V2X devices that may communicate public or private data with the vehicle and/or roadside station.

The computing system 150 can control some or all of the functions of the vehicle 100. An autopilot control unit in the computing system 150 may be used to identify, evaluate, and avoid or override potential obstacles in the environment in which the vehicle 100 is located. In general, an autopilot control unit may be used to control the vehicle 100 without a driver or to provide assistance to the driver in controlling the vehicle. In some embodiments, the autopilot control unit is configured to combine data from sensors, such as GPS transceiver data, radar data, LIDAR data, camera data, and data from other vehicle systems to determine a path or trajectory of travel of the vehicle 100. The autopilot control unit may be activated to enable the vehicle 100 to be driven in an autopilot mode.

Computing system 150 may include at least one processor (which may include at least one microprocessor) that executes processing instructions (i.e., machine-executable instructions) stored in a non-volatile computer-readable medium (e.g., data storage or memory). The computing system 150 may be comprised of a plurality of computing devices that control components or systems of the vehicle 100 in a distributed manner. In some embodiments, the memory may contain processing instructions (e.g., program logic) that are executed by the processor to implement various functions of the vehicle 100. In one embodiment, the computing system 150 is capable of data communication with the drive system 142, the sensor system 144, the control system 146, the user interface system 148, and/or the communication system 152. Interfaces in the computing system are used to facilitate data communications between the computing system 150 and the drive system 142, the sensor system 144, the control system 146, the user interface system 148, and the communication system 152.

The memory may also include other instructions, including instructions for data transmission, instructions for data reception, instructions for interaction, or instructions for controlling the drive system 142, the sensor system 144, or the control system 146 or the user interface system 148.

In addition to storing processing instructions, the memory may store a variety of information or data, such as image processing parameters, road maps, and path information. Such information may be used by the vehicle 100 and the computing system 150 during operation of the vehicle 100 in an automated, semi-automated, and/or manual mode.

Although the autopilot control unit is shown as separate from the processor and memory, it should be understood that in some embodiments, some or all of the functionality of the autopilot control unit may be implemented with program code instructions residing in and executed by one or more processors and that the autopilot control unit may in some cases be implemented using the same processor and/or memory (or data storage). In some embodiments, the autopilot control unit may be implemented at least in part using various dedicated circuit logic, various processors, various Field Programmable Gate Arrays (FPGAs), various Application Specific Integrated Circuits (ASICs), various real-time controllers, and hardware.

The computing system 150 may control functions of the vehicle 100 based on inputs received from various vehicle systems (e.g., the drive system 142, the sensor system 144, and the control system 146), or inputs received from the user interface system 148. For example, the computing system 150 may use input from the control system 146 to control the steering unit to avoid obstacles detected by the sensor system 144. In one embodiment, the computing system 150 may be used to control aspects of the vehicle 100 and its systems.

Although various components (or units) integrated into vehicle 100 are shown in fig. 1, one or more of these components (or units) may be onboard vehicle 100 or separately associated with vehicle 100. For example, the computing system may exist partially or wholly independent of the vehicle 100. Thus, the vehicle 100 may exist as a separate or integrated equipment unit. The device units constituting the vehicle 100 may communicate with each other in a wired communication or a wireless communication. In some embodiments, additional components or units may be added to or removed from the various systems (e.g., the lidar or radar shown in fig. 1).

In some embodiments of the present disclosure, the vehicle includes a sensor system 144 as disclosed in any of the embodiments above. The vehicle may be a tractor (e.g., a truck tractor), but may also be other vehicles such as cars, trucks, motorcycles, buses, boats, aircraft, helicopters, and lawnmowers.

In some embodiments of the present disclosure, the sensors in the sensor system 144 may be coupled or secured to the vehicle by nails, screws, tape, adhesive, welding, soldering, bolts, or similar materials. In other embodiments, the sensor may be coupled or secured to a roof rack or bracket along the top or bottom of the vehicle. The sensor may be coupled or secured to the top, side, front or rear of the vehicle. The sensor may be attached or fixed to the front grille, fender or mirror of the vehicle. The sensor may be coupled or secured to any external portion of the vehicle.

In some embodiments of the present disclosure, the sensor system 144 includes a sensor device 200. Fig. 2 and 3 illustrate schematic diagrams of a sensor device according to some embodiments of the present disclosure, and fig. 4 illustrates a partial schematic diagram of a sensor device according to some embodiments of the present disclosure.

In some embodiments, as shown in fig. 2 and 3, the sensor device includes a base 210, a first bracket 220 mounted on the base 210 through a first shaft 240, and a second bracket 230 mounted on the first bracket 220 through a second shaft 250. Wherein the first bracket is used for fixing the sensor 260, the second bracket 230 is used for fixing the spray head 270, and the spray head 270 is used for cleaning the sensor 260.

In some embodiments, the sensor device may further include a sensor 260 mounted on the first bracket 220, and a spray head 270 mounted within the second bracket 230. The sensor 260 includes, but is not limited to, a camera, a lidar, a millimeter wave radar, a combination navigation, an inertial measurement unit, a global navigation satellite system transceiver, an acoustic sensor, and an ultrasonic sensor.

In some embodiments, the first bracket 220 can rotate along the first shaft 240, thereby rotating the sensor 260 fixed to the first bracket 220, and enabling rotatable mounting of the first bracket 220 and the base 210. The second bracket 230 can rotate along the second shaft 250, thereby rotating the spray head 270 fixed in the second bracket 230, and realizing the rotatable mounting of the second bracket 230 and the first bracket 220.

In some embodiments, the base 210 may be approximated as a U-shaped structure, or may be considered to be a combination of two U-shaped structures that share the same base plate. Specifically, the base 210 includes a bottom plate 211, and two first side plates 212 located on a first side (upper side in the drawing) of the bottom plate 211 and perpendicular to the bottom plate 211, the two first side plates 212 being used for mounting the first bracket 220.

In some embodiments, the base 210 may further include two second side plates 213 located on a second side (lower side in the drawing) of the bottom plate 211 and perpendicular to the bottom plate, and the two second side plates 213 are used to be clamped on a base frame (not shown in the drawing). The base frame is, for example, a structural beam on a vehicle body. The structural beam may be a beam of the vehicle body itself, such as a vehicle body cross beam, a vertical beam, a roof rack, or the like. The structural beam may also be a beam that is additionally mounted to the vehicle body, such as a support bracket mounted to the roof of the vehicle head, which may be used to mount various types of sensors to detect environmental information about the vehicle. In addition, the base plate 211 has a plurality of mounting holes 214 to facilitate securing the sensor device 200 to other support structures, such as a pedestal.

In some embodiments, the first bracket 220 is an inverted U-shaped structure that is mounted on the base 210. The first bracket 220 includes a top plate 221 and two third side plates 222 perpendicular to the top plate. The top plate 221 has mounting holes thereon to facilitate mounting of the sensor 260. The third side plate 222 is for mounting on the base 210 and for mounting the second bracket 230. Specifically, each of the third side plates 222 is mounted on one of the first side plates 212 of the base.

In some embodiments, the two side walls (e.g., the first side plate 212) of the base 210 further have first screw holes 215 (see fig. 4), and the first shaft 240 may include a bolt shaft passing through the first screw holes 215. Correspondingly, nuts 223 corresponding to the first screw holes 215 are welded on the side wall (such as the third side plate 222) of the first bracket 220. Thus, the first bracket 220 is mounted on the base 210 through the first shaft 240, the first screw hole 215, and the nut 223, and is rotatable along the first shaft 240.

In some embodiments, the two side walls (e.g., the third side plate 222) of the first bracket 220 further have second screw holes 224 (see fig. 4), respectively, and the second shaft 250 may include a bolt shaft passing through the second screw holes 224. Correspondingly, the second bracket 230 is internally provided with threads (not shown) corresponding to the second screw hole 224. Thus, the second bracket 230 is mounted to the first bracket 220 through the second shaft 250, the second screw hole 224, and the screw thread, and is rotatable along the second shaft 250.

In addition, the two sidewalls of the first bracket 220 are respectively provided with a third screw hole 225, and the base 210 and the first bracket 220 can be further fixedly connected through the third screw hole 225.

It should be understood that, in fig. 2 and 3, one first shaft 240 is disposed on each of the left and right sidewalls (e.g., the two first side plates 212) of the base 210, and each first shaft 240 passes through the corresponding first screw hole 215, so that the first bracket 220 can rotate along the two first shafts 240 at the same time. In other embodiments, the first shaft 240 is a shaft penetrating through two sidewalls of the base 210, so as to further improve the stability of the apparatus, and the structure of the first shaft can be set by a person skilled in the art according to need, which is not limited herein. In addition, the widths of the first side plate 212 and the third side plate 222, and the distance between the first shaft 240 and the nozzle 270 can be reasonably set by a person skilled in the art, so as to avoid that the first shaft 240 is too close to the nozzle 270 to affect the rotation of the nozzle 270.

Similarly, the second shaft body 250 may be a shaft penetrating through the left and right sidewalls of the first bracket 220, and each of the second shaft bodies 250 penetrates through one of the second screw holes 224. Of course, the second shaft body 250 may also be two second shaft bodies, and each second shaft body penetrates through the second screw hole on one side wall of the first bracket 220, that is, one second shaft body is disposed on each side wall of the second bracket, so long as the second shaft body 250 is ensured not to obstruct the installation of the spray head.

In some embodiments, the second bracket 230 includes a first stop 231 and a second stop 232. The first limiting member 231 has threads corresponding to the second shaft 250, so that the second shaft 250 is convenient to install. The first end (left end in fig. 2) of the first limiting member 231 has a first opening 233, and the first opening 233 is used for exposing the first end of the nozzle 270 (i.e., the liquid outlet end of the nozzle 270). The shape of the first opening 233 may match the shape of the first end of the spray head 270 to provide a proper space to ensure that the liquid outlet end of the spray head 270 is exposed without leaving too large a gap. In some embodiments, the first limiting member 231 is a housing structure for enclosing a front end of the showerhead, and the second limiting member 232 is a support plate structure for supporting the housing structure.

The second limiting member 232 is fixedly connected to the second end (right end in fig. 2) of the first limiting member 231, and is used for fixing the first limiting member 231 and the nozzle 270. Specifically, the second limiting member 232 is fixedly connected to the second end of the first limiting member 231 by a fixing member 234, and the fixing member 234 includes, but is not limited to, a screw, a bolt, and the like. The second stopper 232 has a second opening (not shown) for exposing the second end of the spray head 270, and the shape of the second opening matches the shape of the second end of the spray head 270. Thus, the liquid outlet end of the nozzle 270 extends from the first opening 233 and the other end extends from the second opening.

The nozzle 270 is used to spray a cleaning medium, such as a cleaning liquid and/or a cleaning gas, toward the lens or mirror surface of the sensor 260, and is oriented such that the cleaning medium is sprayed obliquely upward toward the lens. In addition, the nozzle 270 has a protrusion 235, the first stopper 231 and the second stopper 232 sandwich the protrusion 235 from both sides, and the first stopper 231 and the second stopper 232 are also fixed to each other, so that a stable coating structure can be formed to install the nozzle 270. Of course, the nozzle 270 may also have a bolt structure, and may be fixed to the second bracket 230 by the bolt structure.

The first bracket 220 can rotate along the first shaft body 240, the second bracket 230 can also rotate along the second shaft body 250, the first bracket 220 is fixedly connected with the sensor 260, and the second bracket 230 is fixedly connected with the spray head 270, so that double rotation adjustment of the sensor 260 and the spray head 270 is realized, the angle of the sensor is adjusted according to the requirement, the angle of the spray head 270 is adjusted according to the adjusted angle of the sensor, and the cleaning effect of the sensor is ensured.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above 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 above examples only represent a few embodiments of the present specification, which are described in more detail and are not to be construed as limiting the scope of the disclosure. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the present description, which is within the scope of the present description. Accordingly, the protection scope of the patent should be determined by the appended claims.

Claims (16)

1. A sensor device, comprising:

a base;

the first bracket is arranged on the base through a first shaft body and is used for fixing the sensor; and

and the second bracket is arranged on the first bracket through a second shaft body and is used for fixing a spray head, and the spray head is used for cleaning the sensor.

2. The sensor device of claim 1, wherein the first bracket is rotatable along the first axis and the second bracket is rotatable along the second axis.

3. The sensor device of claim 1, further comprising:

a sensor mounted on the first bracket; and

and the spray head is arranged in the second bracket.

4. The sensor device of claim 1, wherein the second bracket comprises:

the first limiting piece is provided with a first opening at the first end, and the first opening is used for exposing the first end of the spray head; and

the second limiting piece is fixedly connected with the second end of the first limiting piece and used for fixing the first limiting piece and the spray head.

5. The sensor assembly of claim 4, wherein the second stop member has a second opening that is shaped to match the shape of the second end of the spray head.

6. The sensor device of claim 4, wherein the head has a boss, and the first and second stoppers clamp the boss from both sides, respectively.

7. The sensor device of claim 1, wherein the sidewall of the base has a first screw hole, and the first shaft includes a bolt rotation shaft passing through the first screw hole.

8. The sensor device of claim 7, wherein the first bracket has an inverted U-shaped configuration, wherein a sidewall of the first bracket has a second screw hole, and wherein the second shaft includes a bolt rotation shaft passing through the second screw hole.

9. The sensor device of claim 8, wherein a nut corresponding to the first screw hole is welded on a side wall of the first bracket, and a thread corresponding to the second screw hole is provided inside the second bracket.

10. A sensor device according to claim 8, wherein,

the second shaft body is a shaft body penetrating through two side walls of the first bracket; or alternatively

Each side wall of the second bracket is provided with a second shaft body.

11. The sensor device of claim 1, wherein the base comprises:

a bottom plate;

two first side plates which are positioned on the first side of the bottom plate and are perpendicular to the bottom plate, wherein the two first side plates are used for installing the first bracket.

12. A sensor device according to claim 11, wherein,

the first shaft body penetrates through the two first side plates; or alternatively

Each first side plate of the two first side plates is provided with a first shaft body.

13. The sensor device of claim 11, wherein the base further comprises:

and the two second side plates are positioned on the second side of the bottom plate and are perpendicular to the bottom plate, and the two second side plates are used for being clamped on the base frame.

14. The sensor device of claim 13, wherein the base frame comprises a structural beam on a vehicle body.

15. The sensor device of claim 1, wherein the sensor comprises at least one of a camera, a lidar, a millimeter wave radar.

16. A vehicle comprising a sensor device according to any one of claims 1-15.