WO2018108307A1 - Support de capteur pour un véhicule - Google Patents

Support de capteur pour un véhicule Download PDF

Info

Publication number
WO2018108307A1
WO2018108307A1 PCT/EP2017/001380 EP2017001380W WO2018108307A1 WO 2018108307 A1 WO2018108307 A1 WO 2018108307A1 EP 2017001380 W EP2017001380 W EP 2017001380W WO 2018108307 A1 WO2018108307 A1 WO 2018108307A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
sensor
intermediate frame
axis
rotation
Prior art date
Application number
PCT/EP2017/001380
Other languages
German (de)
English (en)
Inventor
Jürgen WACHHAUS
Original Assignee
Kuka Roboter Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Publication of WO2018108307A1 publication Critical patent/WO2018108307A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments

Definitions

  • the present invention relates to a sensor holder for a vehicle, in particular an adjustable sensor holder with which a sensor can be aligned relative to a vehicle.
  • Allow sensors relative to the vehicle For this purpose, it is known, for example, to connect a base frame fixed to a vehicle and to provide an intermediate frame on this base frame, which is rotatably supported about an axis on the base frame. To fix the two frames relative to each other, for example, screws and nuts and the like. be used. For adjustment or alignment of the sensor they must be fixed to a base frame fixed to a vehicle and to provide an intermediate frame on this base frame, which is rotatably supported about an axis on the base frame. To fix the two frames relative to each other, for example, screws and nuts and the like. be used. For adjustment or alignment of the sensor they must be used.
  • Screw connections are loosened and the sensor can then be aligned, for example, by hand. When the desired position is found, the screw connection is tightened again and the two frames are fixed together.
  • a disadvantage of this construction is that an exact positioning by hand is difficult, especially if the adjustment of the sensor should be very accurate. The hiring fitter then has to hold the sensor in the desired position with one hand and try with
  • the invention relates to a sensor holder for a vehicle, in particular for autonomously or partially autonomously operated vehicles, comprising a
  • the use of two moveable intermediate frames allows adjustment of the sensor in a wide range.
  • the sensor may be held on the second intermediate frame and the second intermediate frame is rotatably supported on the first intermediate frame.
  • the first intermediate frame which thus carries the second intermediate frame and thus also the sensor, in turn is rotatably supported on the base frame.
  • the two axes of rotation are orthogonal to one another, so that flexible adjustment of the sensor is possible by adjusting the first and second intermediate frames.
  • the adjustment of at least one of the intermediate frame is advantageously not (only) by hand, but via a suitable adjusting screw.
  • the adjusting screw is provided such that upon actuation of the screw relative movement between the base frame and the first or second intermediate frame takes place. This can be achieved, for example, that the adjusting screw in a through hole with
  • Adjusting screw moves the tip of the screw and can, for example, via a contact with the other frame on this act.
  • Sensor holder can be adjusted by a single person.
  • Adjustment cover can, for example, be provided on the first intermediate frame and act on the second intermediate frame. Here too there is an (indirect) relative movement between the base frame and the intermediate frame.
  • At least one of the means for fixing the frame relative to each other is formed so that it can be brought into a position in which the at least one adjusting screw can cause relative movement between the base frame and the first or second intermediate frame.
  • the means of fixing the frames to each other may, for example
  • the means for setting the frames may preferably have different strengths. In the final operation, these cause a rigid and immovable attitude of the frame to each other. For coarse adjustment of the sensor, these can be completely loosened, so that the frame can be easily moved by hand relative to each other. In an intermediate position, although the frames are fixed relative to each other, but in a degree of fixation, by pressing the
  • Adjustment screw can still be overcome. In this way, it is not necessary to manually hold the sensor in the desired position while tightening the fixing means.
  • means are provided on the second intermediate frame with which a sensor attached to the second intermediate frame relative to the second
  • Intermediate frame is rotatable about a third axis of rotation, wherein the third
  • the axis of rotation is preferably aligned orthogonal to the first and second axes of rotation.
  • the sensor can thus be rotated about three orthogonal axes of rotation aligned, whereby a flexible and arbitrary adjustment of the sensor in the room is possible.
  • the sensor can be attached directly to the second intermediate frame or via additional intermediate frame, which cause a rigid fixation of the sensor on the second intermediate frame or alternatively allow further movements.
  • the sensor holder has pivot pins to effect the rotatability.
  • the use of pintles is a robust, inexpensive measure to realize the pivotal or rotational movement of the various frames or the sensor.
  • the rotatability can be done around the pivot pins and each pivot pin is preferably associated with an additional locking screw, which allows a rotation when they
  • the adjustment screw is held on the base frame and, when actuated, moves toward the first intermediate frame or the adjustment screw is held in the first intermediate frame and moves toward the base frame when actuated.
  • at least two adjusting screws are provided, wherein a first adjusting screw causes relative movement about the first axis of rotation between the base frame and the first intermediate frame and the second adjusting screw causes relative movement about the third axis of rotation between the first and second intermediate frames or movement about one third axis of rotation between the second intermediate frame and a sensor which is rotatably supported on the second intermediate frame.
  • the provision of two adjusting screws enables a particularly flexible and easy adjustment or alignment of the sensor on the vehicle. For the rotation about the vertical axis of the sensor, an adjustment screw is not absolutely necessary, because here the sensor can not be adjusted by gravity.
  • the means for fixing the frame relative to each other screw which allow a firm fixation of the frame to each other.
  • Screw connections have the advantage that these depending on the
  • a sensor in particular a laser sensor is attached to the second intermediate frame.
  • the sensor is advantageously used to the environment or the
  • To detect surroundings of the vehicle for example, to allow an autonomous or semi-autonomous operation of the vehicle, or to increase the safety of the operation of the vehicle, for example by the detection of upcoming collisions.
  • FIG. 1 schematically shows a sensor holder for a vehicle according to the invention
  • FIG. 2 shows the sensor holder of FIG. 1 in a view rotated around the vertical axis by 180 °
  • FIG. 3 shows the sensor holder of FIG. 1 without a base frame and without a first intermediate frame. 5. Description of a preferred example
  • FIG. 1 shows a sensor holder 1 for a vehicle, which carries a sensor 40.
  • the sensor holder 1 comprises a base frame 10 which has a mounting bracket 11 with fastening screws 12 for fastening the
  • the holder comprises a first intermediate frame 20, which is held rotatably on the base frame 10 about a first axis X.
  • a pivot pin 21 is provided.
  • the pivot pin 21 is associated with a fixing screw 22 which can connect the two frames firmly together.
  • An adjusting screw 23 is mounted on the first intermediate frame 20. It passes through a through hole with internal thread, which is provided in a wing 24 of the first intermediate frame 20. It can be seen that the tip 25 of the adjusting screw 23 acts on a surface of the base frame.
  • the adjusting screw 23 moves in the arrangement shown down and presses on the base frame 10. This can be a precisely adjustable movement between the
  • Base frame and the first intermediate frame can be achieved.
  • a second intermediate frame 30 is provided which is rotatably mounted relative to the first intermediate frame 20 about a second axis Z.
  • this axis Z represents the vertical axis.
  • the two fixing screws 32 are assigned.
  • the fixing screws 32 cause a rigid Connection of the first and second intermediate frame and must be relaxed accordingly, if an adjustment of the two frames to each other is desired.
  • a further adjusting screw 33 is provided which acts directly on the housing of the sensor 40.
  • the sensor 40 is in turn rotatably mounted about a third axis of rotation Y on the second base frame 30.
  • a pivot pin 41 and a corresponding fixing screw 42 is used.
  • Clarity of the base frame 10 and the first intermediate frame 20 are removed. It can be seen that the sensor 40 is connected via adapter plates 45 to the second intermediate frame 30. For pivoting the sensor 40 relative to the second intermediate frame 30, the fixing screw 42 must be loosened, after which a fine adjustment by means of the adjusting screw 33 is possible. When the desired setting is achieved, the fixing screw 42 is tightened again.
  • Reference numeral 47 denotes power and data terminals, and reference numeral 46 denotes a control panel of the sensor 40.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

La présente invention concerne un support de capteur (1) pour un véhicule, comprenant un cadre de base (10) pourvu de moyens de fixation (11, 12) pour la fixation du cadre de base (10) à un véhicule; un premier cadre intermédiaire (20) qui est maintenu sur le cadre de base (10) de manière à pouvoir tourner autour d'un premier axe (x) et un deuxième cadre intermédiaire (30) qui est logé rotatif autour d'un deuxième axe (z), le deuxième axe de rotation étant orienté perpendiculairement au premier axe de rotation. Il est également prévu des moyens (22, 32, 42) pour fixer les cadres (10, 20, 30) les uns par rapport aux autres, et au moins une vis de réglage (23, 33) qui, lors de l'actionnement, entraîne un mouvement relatif entre le cadre de base (10) et le premier (20) ou le deuxième (30) cadre intermédiaire.
PCT/EP2017/001380 2016-12-15 2017-11-28 Support de capteur pour un véhicule WO2018108307A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202016007625.7U DE202016007625U1 (de) 2016-12-15 2016-12-15 Sensorhalterung für ein Fahrzeug
DE202016007625.7 2016-12-15

Publications (1)

Publication Number Publication Date
WO2018108307A1 true WO2018108307A1 (fr) 2018-06-21

Family

ID=60942944

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/001380 WO2018108307A1 (fr) 2016-12-15 2017-11-28 Support de capteur pour un véhicule

Country Status (2)

Country Link
DE (1) DE202016007625U1 (fr)
WO (1) WO2018108307A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202018102171U1 (de) * 2018-04-19 2019-07-22 Kuka Deutschland Gmbh Sensorhalter und Vorrichtung mit einem solchen Sensorhalter
US11203305B2 (en) * 2019-05-08 2021-12-21 Tusimple, Inc. Integrated multi-purpose perception housing

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2490628A (en) * 1942-09-23 1949-12-06 Honeywell Regulator Co Motor-driven leveling support
US2605072A (en) * 1944-07-06 1952-07-29 Norman E Klein Integral-drive magnetometer head
DE10002956A1 (de) * 2000-01-25 2001-07-26 Hella Kg Hueck & Co Scheinwerferbaugruppe für ein Kraftfahrzeug
DE102012203834B3 (de) * 2012-03-12 2013-06-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. System zur Kamerastabilisierung sowie Verfahren zur Kamerastabilisierung
WO2015162247A1 (fr) * 2014-04-25 2015-10-29 Dynamic Perspective Gmbh Suspension à cardan pour capteur
DE102015107483A1 (de) * 2015-05-12 2016-11-17 Arnold & Richter Cine Technik Gmbh & Co. Betriebs Kg Kamerastabilisierungsvorrichtung und Kamerahalterungsvorrichtung hierfür

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6762790B1 (en) * 2002-12-20 2004-07-13 Bendix Commercial Vehicle Systems Llc Universal camera bracket that allows 180 degree of pitch adjustment
US6860654B1 (en) * 2004-01-05 2005-03-01 A-One Optoelectronics, Ltd Lens holding structure for wall-mounted surveillance camera
US7440027B2 (en) * 2004-03-12 2008-10-21 Robert Bosch Gmbh Mounting assembly for camera
US7298969B2 (en) * 2004-12-01 2007-11-20 Elbex Video Limited Housing with camera and illuminator for fence and security observation
DE102006005531B4 (de) * 2006-02-07 2013-01-17 Vega Grieshaber Kg 1 mFeldgerät mit einer Montageklammer zur Befestigung an einer Befestigungsfläche
JP5497870B2 (ja) * 2012-10-16 2014-05-21 株式会社ホンダアクセス 車両用カメラの取付構造
DE102015105824A1 (de) * 2015-04-16 2016-10-20 Sick Ag Sensor mit Gehäuse
DE102015105918B4 (de) * 2015-04-17 2019-09-05 Sick Ag Befestigungsvorrichtung für einen Sensor
DE102015210521B4 (de) * 2015-06-09 2021-04-22 Bombardier Transportation Gmbh Schienenfahrzeug mit Haltevorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2490628A (en) * 1942-09-23 1949-12-06 Honeywell Regulator Co Motor-driven leveling support
US2605072A (en) * 1944-07-06 1952-07-29 Norman E Klein Integral-drive magnetometer head
DE10002956A1 (de) * 2000-01-25 2001-07-26 Hella Kg Hueck & Co Scheinwerferbaugruppe für ein Kraftfahrzeug
DE102012203834B3 (de) * 2012-03-12 2013-06-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. System zur Kamerastabilisierung sowie Verfahren zur Kamerastabilisierung
WO2015162247A1 (fr) * 2014-04-25 2015-10-29 Dynamic Perspective Gmbh Suspension à cardan pour capteur
DE102015107483A1 (de) * 2015-05-12 2016-11-17 Arnold & Richter Cine Technik Gmbh & Co. Betriebs Kg Kamerastabilisierungsvorrichtung und Kamerahalterungsvorrichtung hierfür

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