CN221023503U

CN221023503U - Sensor module and unmanned vehicle

Info

Publication number: CN221023503U
Application number: CN202322936462.1U
Authority: CN
Inventors: 刘庆贺
Original assignee: Neolithic Zhongyan Shanghai Technology Co ltd
Current assignee: Neolithic Zhongyan Shanghai Technology Co ltd
Priority date: 2023-10-31
Filing date: 2023-10-31
Publication date: 2024-05-28
Anticipated expiration: 2033-10-31

Abstract

The utility model discloses a sensor module and an unmanned vehicle, and belongs to the technical field of unmanned vehicles, unmanned vehicles or automatic driving. The sensor module comprises a main support, a first cover plate and a decorative plate, wherein the decorative plate is arranged between the main support and the first cover plate and forms an accommodating space with an opening, the decorative plate is provided with a vent hole, a fan is arranged in the accommodating space, and the vent hole, the fan and the opening are sequentially distributed along a first direction to form an exhaust channel; the first sensor assembly comprises at least two sensors, and the sensors are arranged in the accommodating space and are exposed to the outside through the decorative plate; the first control board is connected with the first sensor component in a communication way, is connected to the main support, is arranged on the exhaust channel and is arranged between the fan and the opening. The sensor module and the unmanned vehicle solve the problems of high calibration difficulty and serious heating of a control panel caused by low sensor installation precision.

Description

Sensor module and unmanned vehicle

Technical Field

The utility model relates to the technical field of unmanned vehicles, unmanned vehicles or automatic driving, in particular to a sensor module and an unmanned vehicle.

Background

In the prior art, a plurality of sensors such as cameras and radars are arranged on a vehicle body, and the data acquired by the plurality of sensors are overlapped to control the unmanned vehicle to run so as to achieve the purpose of avoiding obstacles. However, on the one hand, the plurality of sensors are arranged on the vehicle body in a scattered manner, the mounting precision of the sensors and the vehicle body is low, and the deviation between the relative position of the sensors and the theoretical design is increased, so that the calibration difficulty of the sensors is improved. On the other hand, the control board connected with the sensors can generate a large amount of heat and is difficult to discharge in the high-speed operation process, so that the control board generates serious heat, and the service life is influenced.

Disclosure of utility model

The utility model aims to provide a sensor module and an unmanned vehicle, which solve the problems of high calibration difficulty and serious heating of a control panel caused by low sensor installation precision.

To achieve the purpose, the utility model adopts the following technical scheme:

In one aspect, there is provided a sensor module comprising:

The fan is arranged in the accommodating space, and the vent, the fan and the opening are sequentially distributed along a first direction to form an exhaust channel;

the first sensor assembly comprises at least two sensors, and the sensors are arranged in the accommodating space and are exposed to the outside through the decorative plate;

The first control board is in communication connection with the first sensor assembly, and is connected to the main support, arranged on the exhaust channel and between the fan and the opening.

In some possible embodiments, the air guide plate is arranged in the accommodating space, the air guide plate is arranged on the main support and forms an air guide groove, and the fan is arranged in the air guide groove.

In some possible embodiments, the heat sink is disposed in the accommodating space, the first control board is connected to a side of the main support facing away from the accommodating space, and the main support is provided with a avoidance hole, so that the main chip of the first control board is in contact with the heat sink through the first heat conducting layer.

In some possible embodiments, a second heat conducting layer is arranged between the radiator and the main support, and the second heat conducting layer is arranged around the outer ring of the radiator; and/or

The main support is provided with a plurality of blocking parts, and the blocking parts are sequentially arranged between the radiator and the decorative plate.

In some possible embodiments, the first cover plate covers the decorative plate and the main support, the decorative plate is provided with an inclined portion, the inclined portion is obliquely arranged between the first cover plate and the main support, and the vent hole is arranged on the inclined portion.

In some possible embodiments, the vent holes are grid holes.

In some possible embodiments, the decorative plate further includes a baffle portion connected to a bottom of the inclined portion, the baffle portion being provided at a side of the inclined portion facing the main bracket.

In some possible embodiments, the radar sensor further comprises a second sensor assembly, the second sensor assembly comprises a second mounting frame, a radar and a protective housing, the first cover plate is provided with a communication hole, the radar is connected with the first control board through the communication hole, the second mounting frame is connected with the first cover plate and covers the communication hole, the radar is connected with the top of the second mounting frame, and the protective housing is arranged on the radar and is connected with the first cover plate in a sealing mode.

In some possible embodiments, the first cover plate is provided with a first mounting groove and a second mounting groove, the second mounting groove is formed in the bottom of the first mounting groove, the second mounting rack is mounted in the first mounting groove in a sealing mode, a leak hole used for being connected with a drain pipe is formed in the bottom of the first mounting groove, and the protective outer cover is mounted in the second mounting groove in a sealing mode.

In another aspect, there is provided an unmanned vehicle comprising a body and a sensor module as described above, a main support being connected to the body, the opening being directed towards a cargo box of the body.

The utility model has the beneficial effects that:

According to the sensor module and the unmanned vehicle provided by the utility model, at least two sensors are integrally arranged in the accommodating space to form the first sensor assembly, so that the sensors are highly integrated to form the sensor module. The sensor is prevented from being mounted on the vehicle body in a scattered manner, the mounting precision is improved, and the deviation between the relative position of the sensor and the theoretical design is reduced, so that the calibration difficulty of the sensor is reduced. Cold air enters from the vent hole, then is discharged from the opening through the fan and the first control panel, and external cold air takes away heat generated by the first control panel to realize heat dissipation, so that the problem that the first control panel generates heat seriously is solved.

Drawings

FIG. 1 is a schematic view of a sensor module provided in an embodiment of the present utility model;

FIG. 2 is an exploded view of a sensor module provided in accordance with an embodiment of the present utility model;

FIG. 3 is an enlarged view at M of FIG. 2;

FIG. 4 is an exploded view of a second sensor assembly provided in accordance with an embodiment of the present utility model;

FIG. 5 is an enlarged view at N of FIG. 4;

Fig. 6 is a schematic view of installation of an air deflector, a riser and a fan according to an embodiment of the present utility model.

In the figure:

1. a main support; 11. avoidance holes; 12. a blocking portion; 13. a limiting hole;

2. A first cover plate; 21. a first mounting groove; 22. a second mounting groove; 23. a leak hole; 24. a boss; 25. a communication hole;

3. a first sensor assembly; 31. a first mounting frame; 32. a decorative plate; 321. an inclined portion; 322. a baffle plate portion; 323. a vent hole; 33. a sensor;

4. A first control board; 41. a main chip; 42. a limit column; 5. a heat sink; 6. a fan; 7. an air deflector; 8. a vertical plate; 9. a first heat conductive layer; 10. a second heat conductive layer;

20. A second sensor assembly; 201. a second mounting frame; 202. a radar; 203. a protective outer cover; 204. a silica gel pad;

30. a drain pipe; 40. a second cover plate; 50. a second control board; 60. an antenna; 61. a 5G antenna; 62. an RTK antenna;

A. An air guide groove; B. an opening; C. an accommodation space.

Detailed Description

In order to make the technical problems solved by the present utility model, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present utility model will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The present embodiment provides a sensor module, as shown in fig. 1 and 2, including a main bracket 1, a first cover plate 2, a first sensor assembly 3, a decorative plate 32, a first control board 4, and a fan 6. The main support 1 is used for being connected with an external structure, the decorative plate 32 is arranged between the main support 1 and the first cover plate 2 and forms an accommodating space C with an opening B, the decorative plate 32 is provided with a vent hole 323, the accommodating space C is internally provided with the fan 6, and the vent hole 323, the fan 6 and the opening B are sequentially distributed along a first direction to form an exhaust channel. The first sensor assembly 3 comprises at least two sensors 33, the sensors 33 are arranged in the accommodating space C and exposed to the outside through the decorative plate 32, and the at least two sensors 33 are integrally arranged in the accommodating space C to form the first sensor assembly 3, so that the sensors 33 are highly integrated to form a sensor module. The sensor 33 is prevented from being mounted on the vehicle body in a scattered manner, the mounting precision is improved, and the deviation between the relative position of the sensor 33 and the theoretical design is reduced, so that the calibration difficulty of the sensor 33 is reduced.

Optionally, the first sensor assembly 3 further comprises a first mounting 31, the sensor 33 being positionally mounted to the first mounting 31, the first mounting 31 being connected to the main support 1. During assembly, at least two sensors 33 are integrally mounted on the first mounting frame 31 to form a first sensor assembly 3, then the first mounting frame 31 is mounted on the main support 1, and the main support 1 is connected with an external structure such as an unmanned vehicle, so that the sensors 33 are highly integrated. By ensuring the structural accuracy of the first mounting frame 31 and the mounting accuracy of the sensor 33 on the first mounting frame 31, the structural accuracy of the first sensor assembly 3 is improved, so that the mounting accuracy of the sensor 33 and a vehicle body can be improved, the deviation between the relative position of the sensor 33 and the theoretical design is reduced, and the calibration difficulty of the sensor 33 is reduced. The sensor 33 is not required to be mounted on the body of the unmanned vehicle in a scattered manner, and the problem that the mounting accuracy between the sensor 33 and the body is affected due to large accumulated errors caused by low accuracy of the body and the fact that the sensor 33 is connected to the body through an intermediate adapter and the like is avoided.

Illustratively, the sensor 33 includes a camera and/or a radar, a positioning post (not shown in the figure) is disposed on the sensor 33, a positioning hole (not shown in the figure) is disposed on the first mounting frame 31, the positioning post is disposed through the positioning hole to position the sensor 33 and the first mounting frame 31, and the sensor 33 and the first mounting frame 31 are detachably connected through screws, so that the sensor 33 is positioned and mounted on the first mounting frame 31. The first sensor assembly 3 is used for collecting the distance between the unmanned vehicle and the surrounding obstacle to reduce the blind area, and the type, number and layout of the specific sensors 33 are only required to refer to the prior art, and will not be described again.

As shown in fig. 1-6, a first control board 4 is communicatively connected to the first sensor assembly 3, and the first control board 4 is connected to the main bracket 1, is disposed on the exhaust passage, and is disposed between the fan 6 and the opening B. Alternatively, the main support 1 is made of an aluminum material, and the first control board 4 transfers heat to the main support 1, and radiates heat through the main support 1. Cold air enters from the air vent 323, then is discharged from the opening B through the fan 6 and the first control panel 4, and the external cold air takes away heat generated by the first control panel 4 to realize heat dissipation, so that the problem that the first control panel 4 generates heat seriously is solved.

Illustratively, as shown in fig. 2, the front-rear direction is X-direction, the vertical direction is Y-direction, the left-right direction is Z-direction, the first direction is front-rear direction, the main support 1 and the first cover plate 2 are disposed along the vertical direction, the first cover plate 2 is disposed above the main support 1, the decorative plate 32 is disposed at least on the front side, the opening B is disposed on the rear side, and the exhaust passage is disposed along the front-rear direction. Optionally, the decorative plate 32 is disposed on the front side and the left and right sides, improving the protection of the components inside the accommodating space C.

Optionally, the decorative board 32 is connected on first mounting bracket 31, and first mounting bracket 31 passes through screwed connection between main support 1 and first apron 2, and the structure is used for dodging the probe of sensor 33 to the structure is dodged to the decorative board 32, and the probe is used for detecting surrounding environment information, and decorative board 32 protects sensor 33, through decorative board 32 and first mounting bracket 31 location installation, can guarantee the probe and dodge the position accuracy between the structure, guarantees the aesthetic property.

As shown in fig. 6, the sensor module further includes an air deflector 7 disposed in the accommodating space C, the air deflector 7 is mounted on the main support 1 and forms an air guiding slot a, and the fan 6 is disposed in the air guiding slot a, so that cold air can be concentrated by disposing the air guiding slot a, and the effect of dispersing the cold air around is avoided, thereby affecting the heat dissipation effect of the first control board 4.

Further, the sensor module further comprises a vertical plate 8, the vertical plate 8 is arranged between the air deflector 7 and the main support 1 and is separated to form two air guide grooves A, the fan 6 is arranged on the vertical plate 8, the fan 6 is convenient to install, the fan 6 is arranged in one air guide groove A, the bottom of the air guide groove A deviating from one side of the first cover plate 2 is arranged on the first control plate 4, and the air vent 323, one air guide groove A, the fan 6, the other air guide groove A and the opening B are sequentially communicated along the first direction to form an air exhaust channel. Further, the air deflector 7 is shaped like a gate, two ends of the air deflector are connected to the main support 1, the vertical plate 8 is connected to the air deflector 7 and the main support 1 and is provided with a hole structure, so that cold air in one air guide groove A can enter the other air guide groove A through the hole structure and the fan 6.

As shown in fig. 2 and fig. 3, the first control board 4 is provided with a plurality of components such as a main chip 41, where the heat productivity of the main chip 41 is relatively high, optionally, the sensor module further includes a radiator 5, the first control board 4 and the radiator 5 are correspondingly disposed on two sides of the main support 1, the radiator 5 is disposed in the accommodating space C, the specific radiator 5 and the fan 6 are disposed in the same air guiding slot a, the first control board 4 is connected to one side of the main support 1 deviating from the accommodating space C, the main support 1 is provided with an avoidance hole 11, so that the main chip 41 of the first control board 4 and the radiator 5 are contacted through the first heat conducting layer 9, and the heat dissipation effect on the main chip 41 is further improved.

As shown in fig. 2, the heat sink 5 is a prior art and will not be described in detail. Optionally, a second heat conducting layer 10 is arranged between the radiator 5 and the main support 1, and the second heat conducting layer 10 is arranged around the outer ring of the radiator 5. On the one hand, the second heat conduction layer 10 realizes heat conduction between the radiator 5 and the main support 1, and improves the heat dissipation effect on the first control board 4. On the other hand, the second heat conduction layer 10 realizes the sealing connection between the radiator 5 and the main support 1, prevents water in the accommodating space C from flowing to the first control panel 4 through the avoiding hole 11, and realizes the waterproof function. The first heat conductive layer 9 and the second heat conductive layer 10 are each made of a heat conductive material, and the second heat conductive layer 10 is formed by applying a heat conductive silicone gel or a heat conductive silicone grease between the heat sink 5 and the main support 1, for example.

Optionally, as shown in fig. 2, the main support 1 is provided with a plurality of blocking parts 12, and the plurality of blocking parts 12 are sequentially arranged between the radiator 5 and the decorative plate 32, so that rainwater and the like are prevented from entering the accommodating space C through the vent holes 323, and then flow to the first control board 4 through the avoidance holes 11, thereby realizing a waterproof function. In this embodiment, two blocking portions 12 are provided, and the blocking portions 12 are ribs protruding on the main support 1.

Optionally, as shown in fig. 2, the sensor module further includes a second cover plate 40, where the second cover plate 40 is connected to the main bracket 1 and is used to cover the first control board 4, so as to implement protection for the first control board 4.

As shown in fig. 1, 2, 4 and 5, the first cover plate 2 is covered on the decorative plate 32 and the main support 1, the decorative plate 32 is provided with an inclined portion 321, the inclined portion 321 is obliquely arranged between the first cover plate 2 and the main support 1, the vent holes 323 are arranged on the inclined portion 321, rainwater and the like are prevented from entering the accommodating space C from above through the vent holes 323, and a waterproof function is realized. Further, the vent holes 323 are grid holes, so that rainwater can be prevented from entering the accommodating space C from the side through the vent holes 323, and cold air is not influenced to enter the air exhaust channel. Optionally, the decorative board 32 further includes a baffle portion 322 connected to the bottom of the inclined portion 321, where the baffle portion 322 is disposed on a side of the inclined portion 321 facing the main support 1, and when rainwater enters from the side through the vent 323, the baffle portion 322 can block a part of the rainwater from entering the accommodating space C, thereby further realizing a waterproof function. Optionally, the first control board 4 and the main support 1 are positioned and installed, for example, one of the two is provided with a limiting column 42, the other is provided with a limiting hole 13, and the limiting column 42 is arranged through the limiting hole 13 to realize positioning between the first control board 4 and the main support 1, so that short circuit caused by structural interference between a structure on the main support 1 and components on the first control board 4 is prevented, and safety and reliability are improved.

Optionally, as shown in fig. 2, the sensor module further includes structures such as an antenna 60 and a second control board 50, which are specifically configured according to actual needs, and will not be described again. Optionally, the antennas 60 are disposed in the accommodating space C and above the air deflector 7, and the two antennas 60 are disposed in the left-right direction, and the antennas 60 include a 5G antenna 61 and an RTK antenna 62. The first control board 4 and the second control board 50 are disposed in the left-right direction and are both mounted on the side of the main support 1 facing away from the accommodation space C. Optionally, when the heat generated by the second control board 50 is larger, the sensor module may also include a heat dissipation structure for dissipating heat from the second control board 50, and the heat dissipation structure for the first control board 4 may be referred to for setting, which is not described again.

As shown in fig. 1, 2 and 4, the sensor module further includes a second sensor assembly 20, the second sensor assembly 20 includes a second mounting frame 201, a radar 202 and a protective cover 203, the first cover plate 2 is provided with a communication hole 25, a cable of the radar 202 passes through the communication hole 25 to be connected with the first control board 4, the second mounting frame 201 is connected to the first cover plate 2 and covers the communication hole 25, the radar 202 is connected to the top of the second mounting frame 201, the protective cover 203 covers the radar 202 and is connected to the first cover plate 2 in a sealing manner, and the protective cover 203 is used for realizing the waterproof of the radar 202 and the accommodating space C.

Optionally, as shown in fig. 4, the first cover plate 2 is provided with a first mounting groove 21 and a second mounting groove 22, the second mounting groove 22 is formed at the bottom of the first mounting groove 21, the protective outer cover 203 is mounted on the second mounting groove 22 in a sealing manner, so as to realize sealing connection between the protective outer cover 203 and the first cover plate 2, and a structure such as a silica gel pad 204 is arranged between the protective outer cover 203 and the first cover plate 2. In addition, the second installation groove 22 has a water storage function, and can prevent water from flowing into the inside of the protective housing 203, thereby preventing water from flowing into the accommodation space C from the first cover plate 2.

The second mounting frame 201 is mounted in the first mounting groove 21 in a sealing manner, so that sealing connection between the second mounting frame 201 and the first cover plate 2 is realized, and a structure such as a silica gel pad 204 is arranged between the second mounting frame 201 and the first cover plate 2. In addition, the first installation groove 21 has a water storage function, and can prevent water from flowing into the accommodation space C. Further, as shown in fig. 4, the bottom of the first installation groove 21 is provided with a drain hole 23 for connection with the drain pipe 30, and when water is accumulated in the first installation groove 21, the accumulated water can be discharged outwards through the drain hole 23 and the drain pipe 30. Alternatively, the bottom of the first mounting groove 21 is provided with a boss 24, and the communication hole 25 is opened to the boss 24, so that water can be further prevented from entering the accommodation space C from the communication hole 25.

A waterproof layer (not shown in the figure) is arranged between the protective outer cover 203 and the radar 202, and the specific waterproof layer can be a waterproof silica gel pad, so that the waterproof is realized and the disassembly is convenient. Waterproof function is realized through the protective outer cover 203, the first mounting groove 21, the second mounting groove 22, the silica gel pad 204, etc., and drainage function is realized through the drain hole 23 and the drain pipe 30, thereby guaranteeing the waterproof of the accommodation space C.

The embodiment also provides an unmanned vehicle which comprises a vehicle body and the sensor module, wherein the main support 1 is connected with the vehicle body, and the opening B faces the container of the vehicle body, namely, the outlet of the exhaust passage discharges air outwards towards the container.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims

1. A sensor module, comprising:

The novel air exhaust device comprises a main support (1), a first cover plate (2) and a decorative plate (32), wherein the decorative plate (32) is arranged between the main support (1) and the first cover plate (2) and forms an accommodating space (C) with an opening (B), the decorative plate (32) is provided with a vent hole (323), a fan (6) is arranged in the accommodating space (C), and the vent hole (323), the fan (6) and the opening (B) are sequentially distributed along a first direction to form an air exhaust channel;

the first sensor assembly (3) comprises at least two sensors (33), and the sensors (33) are arranged in the accommodating space (C) and are exposed to the outside through the decorative plate (32);

The first control board (4) is in communication connection with the first sensor assembly (3), the first control board (4) is connected to the main support (1), is arranged on the exhaust channel and is arranged between the fan (6) and the opening (B).

2. The sensor module according to claim 1, further comprising an air deflector (7) provided in the accommodation space (C), the air deflector (7) being mounted to the main support (1) and forming an air guiding slot (a), the fan (6) being provided in the air guiding slot (a).

3. The sensor module according to claim 1, further comprising a heat sink (5), wherein the heat sink (5) is disposed in the accommodating space (C), the first control board (4) is connected to a side of the main support (1) facing away from the accommodating space (C), and the main support (1) is provided with a avoidance hole (11) so that the main chip (41) of the first control board (4) and the heat sink (5) are in contact through the first heat conducting layer (9).

4. The sensor module of claim 3, wherein the sensor module is configured to,

A second heat conduction layer (10) is arranged between the radiator (5) and the main support (1), and the second heat conduction layer (10) is arranged on the outer ring of the radiator (5) in a surrounding mode; and/or

The main support (1) is provided with a plurality of blocking parts (12), and the blocking parts (12) are sequentially arranged between the radiator (5) and the decorative plate (32).

5. The sensor module according to claim 1, characterized in that the first cover plate (2) is covered on the decorative plate (32) and the main support (1), the decorative plate (32) is provided with an inclined part (321), the inclined part (321) is obliquely arranged between the first cover plate (2) and the main support (1), and the vent hole (323) is arranged on the inclined part (321).

6. The sensor module according to claim 5, characterized in that the ventilation holes (323) are grid holes.

7. The sensor module according to claim 5, characterized in that the decorative plate (32) further comprises a baffle portion (322) connected to the bottom of the inclined portion (321), the baffle portion (322) being provided at a side of the inclined portion (321) facing the main support (1).

8. The sensor module according to any one of claims 1-7, further comprising a second sensor assembly (20), wherein the second sensor assembly (20) comprises a second mounting frame (201), a radar (202) and a protective cover (203), wherein the first cover plate (2) is provided with a communication hole (25), a cable of the radar (202) passes through the communication hole (25) to be connected with the first control board (4), the second mounting frame (201) is connected to the first cover plate (2) and covers the communication hole (25), the radar (202) is connected to the top of the second mounting frame (201), and the protective cover (203) is covered on the radar (202) and is connected to the first cover plate (2) in a sealing manner.

9. The sensor module according to claim 8, characterized in that the first cover plate (2) is provided with a first mounting groove (21) and a second mounting groove (22), the second mounting groove (22) is formed in the groove bottom of the first mounting groove (21), the second mounting rack (201) is mounted in the first mounting groove (21) in a sealing manner, the groove bottom of the first mounting groove (21) is provided with a leak hole (23) for being connected with a drain pipe (30), and the protective outer cover (203) is mounted in the second mounting groove (22) in a sealing manner.

10. An unmanned vehicle comprising a body and a sensor module according to any one of claims 1 to 9, a main support (1) being connected to the body with an opening (B) facing the cargo box of the body.