WO2021232271A1 - Mounting assembly for autonomous vehicle assistance equipment - Google Patents
Mounting assembly for autonomous vehicle assistance equipment Download PDFInfo
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- WO2021232271A1 WO2021232271A1 PCT/CN2020/091208 CN2020091208W WO2021232271A1 WO 2021232271 A1 WO2021232271 A1 WO 2021232271A1 CN 2020091208 W CN2020091208 W CN 2020091208W WO 2021232271 A1 WO2021232271 A1 WO 2021232271A1
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- 238000009434 installation Methods 0.000 claims description 38
- 238000003466 welding Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 239000003292 glue Substances 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
Definitions
- This application relates to the technical field of equipment installation, and in particular to an installation assembly for auxiliary equipment of an autonomous driving vehicle.
- the self-driving vehicle automatically recognizes road information and pedestrian information through auxiliary equipment installed on it, for example, it is controlled by lidar to complete obstacle avoidance and other functions.
- Lidar has obvious advantages in key performances such as detection accuracy, detection range, stability, and adaptability to the surrounding environment.
- 3D lidars installed on autonomous vehicles is limited, usually in the range of ⁇ 30° to ⁇ 50°.
- 3D lidar is installed on the highest part of the car roof, but there are still some blind spots in front of the car.
- relevant manufacturing companies or research institutions of unmanned vehicles will design to install a forward-facing lidar with a height of 30cm to 50cm from the ground at the front of the vehicle.
- the present application provides an installation assembly of auxiliary equipment for an autonomous driving vehicle.
- the above installation components include:
- a mounting assembly for auxiliary equipment of an automatic driving vehicle including:
- the connecting component is fixed on the autonomous vehicle
- a first adjusting part attached to the connecting part and adjustable in the first direction;
- a second adjustment member attached to the first adjustment member and adjustable in the second direction;
- a third adjusting component is attached to the second adjusting component and is adjustable in the third direction, and the third adjusting component is provided with an installation part for installing the auxiliary equipment.
- the first direction is parallel to the height direction of the autonomous vehicle; the second direction is parallel to the width direction of the autonomous vehicle; and the third direction is parallel to the autonomous vehicle The length of the vehicle.
- the connecting member includes a plurality of connecting seats fixed to the autonomous vehicle at intervals, and the first adjusting part includes a plurality of supporting seats, and the supporting seat is the same as the connecting seat.
- the plurality of connecting seats are fixed to the front anti-collision beam of the autonomous vehicle at intervals.
- the support seat has a first side plate and a second side plate, the first side plate and the second side plate are adjacent and at a certain angle, and the first side plate is adjustably attached to a connection Seated.
- the connecting component is fixed to the autonomous vehicle by screwing, bonding or welding.
- the connecting seat is provided with one or more rows of screw holes, and each row of screw holes includes a plurality of screw holes; the first side plate of the support seat is provided with one or more rows of slot holes, Each row of slots on the first side plate of the supporting seat corresponds to a row of screw holes on the connecting seat.
- the slot on the first side plate of the support base is a long slot, the length of which is predetermined, and the length direction is the first direction.
- the fixed connection between the first adjusting component and the connecting component is a semi-permanent fixed connection
- the second adjusting component is fixed on the first adjusting component by a screw
- the third adjusting component is The component is fixed on the second adjusting component by screws.
- the plurality of connecting seats includes a first connecting seat and a second connecting seat
- the plurality of supporting seats includes a first supporting seat and a second supporting seat.
- the second adjusting member has a first end and a second end, the first end is provided with a first row of slots, and the second end is provided with a second row of slots
- the slot holes in the first row and the slots in the second row have the same arrangement.
- the second side plate of the first support seat is provided with a plurality of screw holes, and the plurality of screw holes are connected to the first row on the first end of the second adjusting member.
- the slot holes correspond one to one;
- the second side plate of the second support seat is provided with a plurality of screw holes, and the plurality of screw holes correspond to the second row on the second end of the second adjusting member
- the slots correspond one by one.
- each slot in the first row of slots and the second row of slots is an elongated slot, and its length direction is the second direction.
- the slots in the first row of slots and the second row of slots are U-shaped or L-shaped slots.
- the second adjusting member is provided with one or more rows of screw holes at the first end, and one or more rows of screw holes are provided at the second end, and the first end
- the one or more rows of screw holes in the second end have the same arrangement as the one or more rows of screw holes in the second end.
- the third adjustment member has a third end and a fourth end, the third end corresponds to the first end of the second adjustment member, and the fourth end corresponds to On the second end of the second adjusting member; each of the third end and the fourth end is provided with a plurality of slots, and the plurality of slots on the third end The slot holes and the plurality of slots on the fourth end have the same arrangement.
- the slots on the third end and the fourth end are elongated slots, the length direction of which is the third direction, and each slot on the third end corresponds to A row of screw holes on the first end of the second adjustment component, and each slot on the fourth end corresponds to a row of screw holes on the second end of the second adjustment component.
- the plurality of slots on the third end and the fourth end are U-shaped or L-shaped slots.
- the mounting part is provided with multiple sets of screw holes for adapting auxiliary equipment with different mounting hole positions.
- the surface of the mounting part is parallel to the ground.
- the auxiliary equipment is a forward lidar.
- the surface of the mounting part is perpendicular to the ground.
- the auxiliary equipment is millimeter wave radar or ultrasonic radar.
- FIG. 1 is a schematic structural diagram of an installation assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
- FIG. 2 is a schematic diagram of the installation of the installation assembly for the auxiliary equipment of the automatic driving vehicle in an embodiment of the application.
- Fig. 3 is a schematic structural diagram of an installation assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
- Fig. 4 is a schematic structural diagram of an installation assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
- Fig. 5 is a schematic diagram of the installation of the installation assembly for the auxiliary equipment of the automatic driving vehicle in an embodiment of the application.
- Fig. 6 is a schematic structural diagram of a mounting assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
- Fig. 7 is a schematic structural diagram of an installation assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
- a mounting assembly for auxiliary equipment of an automatic driving vehicle is provided, as shown in FIG. 1 and FIG. 2.
- the mounting assembly includes: a connecting part 1, the connecting part 1 is fixed on the autonomous vehicle; a first adjusting part 2, the first adjusting part 2 is attached to the connecting part and is in the first Adjustable in one direction; a second adjusting member 3, the second adjusting member 3 is attached to the first adjusting member and adjustable in the second direction; and a third adjusting member 4, the first The three adjusting member 4 is attached to the second adjusting member and is adjustable in the third direction, and the third adjusting member is provided with a mounting part for installing the auxiliary equipment.
- the three directions in this embodiment may be three mutually perpendicular directions, such as the directions of the x-axis, y-axis, and z-axis in the spatial coordinate system.
- the forward lidar is directly fixed to the vehicle through glue or bolt connection. Therefore, the traditional radar fixing method cannot flexibly adjust the installation height, horizontal and vertical field of view angle of the radar, and its installation and calibration are difficult.
- the forward-facing lidar is fixed on the vehicle through the mounting assembly, which can be adjusted freely in three dimensions, thereby realizing the lidar
- the flexible adjustment of the installation height, horizontal and vertical field of view angles meets the requirements for the installation and calibration of forward Lidar for autonomous vehicles of different models.
- a mounting assembly for auxiliary equipment of an automatic driving vehicle is provided, as shown in FIG. 3 and FIG. 4.
- the connecting component 1 includes a first connecting seat 11 and a second connecting seat 12.
- the first adjusting component 2 includes a first support seat 21 and a second support seat 22.
- the first connecting seat 11 and the second connecting seat 12 are respectively fixed on the front anti-collision beam 5 of the vehicle.
- the first support base 21 and the second support base 22 respectively have a first side plate and a second side plate, and the first side plate and the second side plate are adjacent to each other and form an angle, such as a right angle.
- the first side plate of the first support seat 21 is adjustably fixed on the first connecting seat 11, and the first side plate of the second support seat 22 is adjustably fixed on the second connecting seat 12.
- the first support base 21 and the second support base 22 can be adjusted synchronously, and the adjustment direction thereof is perpendicular to the ground.
- the second adjusting component 3 is adjustably fixed on the second side plates of the first support base 21 and the second support base 22.
- the adjustment direction of the second adjustment component 3 is perpendicular to the traveling direction of the vehicle on the horizontal plane.
- the third adjusting member 4 is adjustably fixed on the second adjusting member 3, and the adjusting direction of the third adjusting member 4 is parallel to the traveling direction of the vehicle on the horizontal plane.
- the front lidar is installed on the installation part of the third adjusting component 4.
- the radar is fixed to the front bumper cover of the vehicle through glue or bolt connection.
- the viscosity will decrease, body shake, dust, etc. will further accelerate the loosening of the radar.
- the method of opening the front bumper cover and using bolts due to the low material rigidity of the front bumper cover, when the vehicle shakes, there will be a large displacement and deflection between the radar and the body.
- the forward laser radar is taken as an example, and the laser radar can be fixed on the front anti-collision beam of the vehicle in an adjustable manner. Since the installation component is directly fixed on the front anti-collision beam of the vehicle by bolts or high-strength glue, the lidar can be firmly installed. Moreover, in this way, the fixed connection of the mounting assembly and the vehicle anti-collision beam does not affect the freedom of adjustment of the entire mounting assembly. In addition, because the installation assembly can be adjusted freely in three dimensions, the vehicle forward lidar can be adjusted according to the needs of different vehicle models, its installation height, horizontal and vertical field of view angles. That is to say, the mounting assembly provided in this embodiment achieves the purpose of flexible adjustment of the forward laser radar while ensuring that the forward laser radar is firmly installed.
- the forward laser radar is taken as an example.
- the front anti-collision beam 5 of the vehicle may be provided with tapped holes, and the first and second connecting seats are respectively fixed to the front anti-collision beam 5 of the vehicle by bolts passing through the tapped holes.
- the first and second connecting seats can also be directly bonded to the front anti-collision beam 5 of the vehicle through high-strength glue.
- the first and second connecting seats can also be directly fixed on the front anti-collision beam 5 of the vehicle by welding.
- the forward laser radar 6 can be fixed to the installation part of the third adjusting component 4 by bolts.
- first connecting seat 11 and the first supporting seat 21 as an example (the second connecting seat 12 and the second supporting seat 22 are connected in the same manner and will not be repeated here).
- One or more rows of screw holes are provided on the connecting seat 11, and each row of screw holes includes a plurality of screw holes.
- the first side plate of the first support base 21 is provided with a plurality of slots, each of which corresponds to a row of screw holes on the first connecting base 11, so that when the first support base 21 runs along a vertical axis to the ground When moving up and down, there is at least one screw hole in each slot.
- the first side plate of the first support base 21 can be slid down to a suitable position along the direction perpendicular to the ground. At this time, it can be observed with the naked eye.
- the slotted hole slides down the corresponding row of screw holes to a suitable position, you can see that a complete screw hole appears in the slotted hole. Use the screw to pass through the slotted hole and the corresponding complete screw hole to The first side plate of the first supporting seat 21 is fixed on the first connecting seat 11.
- the first side plate of the first support base 21 can be slid up to a suitable position along the direction perpendicular to the ground. Observe that the slotted hole slides up to a suitable position along the corresponding row of screw holes. It can be seen that a complete screw hole appears in the slotted hole. Use a screw to pass through the slotted hole and the corresponding complete screw hole to The first side plate of the first supporting seat 21 is fixed on the first connecting seat 11.
- the slots on the first side plates of the first support base 21 and the second support base 22 are elongated slots, and the length direction thereof is perpendicular to the ground.
- the first adjusting member can move up and down relative to the connecting member in a direction perpendicular to the ground, so that the height of the lidar on the mounting assembly relative to the ground adjustable.
- the semi-permanent fixed connection between the first adjusting component and the connecting component prevents the overall rigidity of the mounting assembly from significantly decreasing with the increase in use time.
- the second adjusting member 3 has a first end and a second end.
- the first end is provided with a first row of slots.
- the first row of slots includes a plurality of slots.
- a plurality of screw holes are provided on the second side plate of the first support seat 21.
- the number of screw holes on the second side plate of the first support seat 21 is equal to the number of slot holes on the first end of the second adjusting member 3, and each of the screw holes is connected to each of the grooves.
- the holes correspond one by one.
- the first end of the second adjusting component 3 is fixed to the second end of the first supporting base 21 by a screw passing through the slot hole and the corresponding screw hole on the second side plate of the first supporting base 21. On the side panel.
- the second adjusting member 3 is provided with a second row of slots at the second end.
- the second row of slots includes a plurality of slots.
- a plurality of screw holes are provided on the second side plate of the second support base 22, and the number of the screw holes on the second side plate of the second support base 22 is the same as the grooves on the second end of the second adjusting member 3. The number of holes is equal, and each screw hole corresponds to each slot hole one to one.
- the second end of the second adjusting component 3 is fixed to the second end of the second supporting base 22 by a screw passing through the slot hole and the corresponding screw hole on the second side plate of the second supporting base 22. On the side panel.
- the multiple screw holes on the second side plate of the first support base 21 and the multiple screw holes on the second side plate of the second support base 21 have the same or similar arrangement.
- the plurality of slots on the first end of the second adjusting member 3 and the plurality of slots on the second end of the second adjusting member 3 also have the same or similar arrangement.
- the slots on the first end and the second end of the second adjusting component 3 are elongated slots, and the length direction of the slot is perpendicular to the traveling direction of the vehicle on the horizontal plane.
- the arrangement of the elongated slots in the first row is the same as the arrangement of the elongated slots in the second row.
- the length of the slot can be designed as required.
- the function of the second adjusting component 3 is to ensure that the lidar can be centrally installed on the front anti-collision beam of the vehicle. This is because, first of all, the front anti-collision beam has a curvature, and the curvature of different models is different, and the first support seat 21 and the second support seat 22 are flat, and it is necessary to find a suitable one in the length direction of the front anti-collision beam Secondly, there will be deviations in manual drilling. After the slot is designed, even if the support seat is deviated in the length direction of the front anti-collision beam, the second adjustment component 3 can pass through the slot and the car body again. Other features are centered; finally, some models have other accessories on the front anti-collision beam. It is necessary to find a suitable distance between the support bases to install the components, and the slot holes designed on the second adjustment part 3 can meet the installation requirements of different distances. , There is no need to redesign the second adjusting part 3.
- the slots in the first row of slots and the slots in the second row of slots can be designed as U-shaped slots or L-shaped slots, so that the second adjusting member 3 can be wound around the vertical to the ground.
- the axis is deflected to further adapt to the front anti-collision beams of vehicles with different curvatures, thereby avoiding changing the design of other parts.
- the second adjusting member 3 is further provided with multiple rows of screw holes at the first end, and multiple rows of screw holes are also provided at the second end.
- the third adjusting member 4 has a third end corresponding to the first end and a fourth end corresponding to the second end. A plurality of slot holes are provided at the third end, and a plurality of slot holes are also provided at the fourth end.
- Each slot on the third end of the third adjusting component 4 corresponds to a row of screw holes on the first end of the second adjusting component 3, and each slot on the fourth end of the third adjusting component 4 corresponds to A row of screw holes on the second end of the second adjusting member 3.
- the multiple rows of screw holes on the first end and the multiple rows of screw holes on the second end have the same or similar arrangement.
- the slots on the third end and the slots on the fourth end have the same or similar arrangement.
- the slots on the third end and the fourth end are both elongated slots, and the length direction of the slot is parallel to the driving direction of the vehicle on the horizontal plane.
- the third adjustment component 4 can be adjusted along the traveling direction of the vehicle as required. For example, when the lidar needs to be adjusted to the front of the car, move the third adjusting component 4 parallel to the direction of travel of the vehicle, and keep each slot on the third adjusting component 4 and the second adjusting component 3 during the movement.
- the upper row of screw holes corresponds to it. When moved to a suitable position, pass the screw through the slot hole on the third adjusting component 4 and a screw hole in the corresponding row of screw holes that appears completely in the slot hole.
- the three adjusting part 4 is fixed on the second adjusting part 3.
- the position of the lidar needs to be moved closer to the vehicle side; on the other hand, the front defense of different models
- the distance between the collision beam and the outermost side of the front of the vehicle is different.
- the selected laser radar In order for the selected laser radar to be properly installed on the front anti-collision beam of the vehicle, it is also necessary to be able to adjust the distance between the laser radar and the front anti-collision beam of the vehicle.
- the distance between the third adjustment component 4 and the vehicle anti-collision beam can be adjusted so that the laser installed on the installation part of the third adjustment component 4
- the distance between the radar and the vehicle anti-collision beam is adjustable.
- the slots on the third end and the fourth end of the third adjusting component 4 can be U-shaped or L-shaped slots, so that the third adjusting component 4 can be wound perpendicular to the ground.
- the axis deflection of the radar realizes that when there is a certain deflection angle between the longitudinal axis of the radar and the longitudinal axis of the vehicle body, the longitudinal axis of the radar can be deflected again by a certain angle so that its longitudinal axis is parallel to the longitudinal axis of the vehicle body, thereby avoiding changing other Design of parts.
- the ribs of the first adjustment component 2 can be designed in different shapes, such as L-shaped, triangular, arc-shaped, etc., so as to avoid occurrence of The installation component interferes with the air intake grille of some specific models.
- the third adjusting component 4 is provided with multiple sets of screw holes for adapting to different installation hole positions. Lidar. It can be realized that there is no need to disassemble other parts when replacing the lidar.
- the mounting assembly for auxiliary equipment of the autonomous vehicle can also be directly fixed on the air intake grille. In this way, the disassembly of the front bumper of the car is avoided, and the installation is convenient.
- the surface of the mounting part for mounting the auxiliary equipment on the third adjusting component 4 may be designed to be perpendicular to the ground to facilitate its installation plane Install radars perpendicular to the ground, such as millimeter wave radars, ultrasonic radars, etc.
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Abstract
A mounting assembly for autonomous vehicle assistance equipment, comprising: a connecting component (1) fixed on an autonomous vehicle; a first adjusting component (2) attached to the connecting component (1) and adjustable in a first direction; a second adjusting component (3) attached to the first adjusting component (2) and adjustable in a second direction; and a third adjusting component (4) attached to the second adjusting component (3) and adjustable in a third direction. The third adjusting component (4) is provided with a mounting portion for mounting assistance equipment.
Description
本申请涉及设备安装技术领域,尤其是涉及一种用于自动驾驶车辆辅助设备的安装组件。This application relates to the technical field of equipment installation, and in particular to an installation assembly for auxiliary equipment of an autonomous driving vehicle.
自动驾驶车辆通过安装在其上的辅助设备去自动识别道路信息和行人信息等,例如通过激光雷达进行控制以完成避障等功能。在探测精度、探测距离、稳定性和对周围环境适应性等关键性能上,激光雷达都有着明显的优势。The self-driving vehicle automatically recognizes road information and pedestrian information through auxiliary equipment installed on it, for example, it is controlled by lidar to complete obstacle avoidance and other functions. Lidar has obvious advantages in key performances such as detection accuracy, detection range, stability, and adaptability to the surrounding environment.
当前,安装于自动驾驶车辆上的3D激光雷达的垂直视场角范围有限,通常在±30°至±50°的范围内。通常,3D激光雷达是安装在车顶的最高处,但是车前仍会有一部分盲区。为了弥补这一盲区,无人驾驶车辆的相关制造企业或研究机构会设计在车头处安装一个距离地面高度在30cm至50cm范围内的前向激光雷达。Currently, the vertical field of view of 3D lidars installed on autonomous vehicles is limited, usually in the range of ±30° to ±50°. Usually, 3D lidar is installed on the highest part of the car roof, but there are still some blind spots in front of the car. In order to make up for this blind spot, relevant manufacturing companies or research institutions of unmanned vehicles will design to install a forward-facing lidar with a height of 30cm to 50cm from the ground at the front of the vehicle.
目前,在装配车辆的前向激光雷达时,相关制造企业或研究机构是选择切割车头的进气格栅,通过粘接、螺栓连接等方式,将激光雷达固定在前保险杠盖上。但这种安装方式并不牢靠。在车辆行驶时,激光雷达与车身间会有较大的相对位移、偏转,随着使用时间的变长,系统整体的刚度也会下降;同时,这种安装方式灵活性较差,无法根据需要调节激光雷达的安装高度以及水平和垂直视场角度,导致安装时标定困难。At present, when assembling the front-facing lidar of a vehicle, related manufacturing companies or research institutions choose to cut the front air intake grille, and fix the lidar on the front bumper cover through bonding, bolting, and other methods. But this installation method is not reliable. When the vehicle is running, there will be a relatively large relative displacement and deflection between the lidar and the body. As the use time becomes longer, the overall rigidity of the system will also decrease; at the same time, this installation method is less flexible and cannot be as required. Adjusting the installation height of the lidar and the horizontal and vertical field of view angles make it difficult to calibrate during installation.
发明内容Summary of the invention
有鉴于此,为了解决上述技术问题,本申请提供了一种自动驾驶车辆辅助设备的安装组件。上述安装组件包括:In view of this, in order to solve the above technical problems, the present application provides an installation assembly of auxiliary equipment for an autonomous driving vehicle. The above installation components include:
一种用于自动驾驶车辆的辅助设备的安装组件,包括:A mounting assembly for auxiliary equipment of an automatic driving vehicle, including:
连接部件,固定在所述自动驾驶车辆上;The connecting component is fixed on the autonomous vehicle;
第一调节部件,附接在所述连接部件上并且在所述第一方向上可调节;A first adjusting part attached to the connecting part and adjustable in the first direction;
第二调节部件,附接在所述第一调节部件上并且在所述第二方向上可调节;以及A second adjustment member attached to the first adjustment member and adjustable in the second direction; and
第三调节部件,附接在所述第二调节部件上并且在所述第三方向上可调节,所述第三调节部件设置有用于安装所述辅助设备的安装部。A third adjusting component is attached to the second adjusting component and is adjustable in the third direction, and the third adjusting component is provided with an installation part for installing the auxiliary equipment.
在一个实施例中,所述第一方向平行于所述自动驾驶车辆的高度方向;所述第二方向 平行于所述自动驾驶车辆的宽度方向;以及所述第三方向平行于所述自动驾驶车辆的长度方向。In one embodiment, the first direction is parallel to the height direction of the autonomous vehicle; the second direction is parallel to the width direction of the autonomous vehicle; and the third direction is parallel to the autonomous vehicle The length of the vehicle.
在一个实施例中,所述连接部件包括彼此间隔地固定在所述自动驾驶车辆上的多个连接座,所述第一调节部包括多个支撑座,所述支撑座与所述连接座一一对应。In one embodiment, the connecting member includes a plurality of connecting seats fixed to the autonomous vehicle at intervals, and the first adjusting part includes a plurality of supporting seats, and the supporting seat is the same as the connecting seat. One correspondence.
在一个实施例中,所述多个连接座彼此间隔地固定在所述自动驾驶车辆的前防撞梁上。In one embodiment, the plurality of connecting seats are fixed to the front anti-collision beam of the autonomous vehicle at intervals.
在一个实施例中,所述支撑座具有第一侧板和第二侧板,所述第一侧板和第二侧板邻接且呈一定角度,第一侧板可调节地附接在一个连接座上。In one embodiment, the support seat has a first side plate and a second side plate, the first side plate and the second side plate are adjacent and at a certain angle, and the first side plate is adjustably attached to a connection Seated.
在一个实施例中,所述连接部件通过螺接、粘接或焊接固定在所述自动驾驶车辆上。In one embodiment, the connecting component is fixed to the autonomous vehicle by screwing, bonding or welding.
在一个实施例中,所述连接座上设有一列或多列螺孔,每一列螺孔中包括多个螺孔;所述支撑座的第一侧板上设有一列或多列槽孔,所述支撑座的第一侧板上的每一列槽孔对应所述连接座上的一列螺孔。In one embodiment, the connecting seat is provided with one or more rows of screw holes, and each row of screw holes includes a plurality of screw holes; the first side plate of the support seat is provided with one or more rows of slot holes, Each row of slots on the first side plate of the supporting seat corresponds to a row of screw holes on the connecting seat.
在一个实施例中,所述支撑座的第一侧板上的所述槽孔为长型槽孔,其长度是预先确定的,且其长度方向为所述第一方向。In an embodiment, the slot on the first side plate of the support base is a long slot, the length of which is predetermined, and the length direction is the first direction.
在一个实施例中,所述第一调节部件与所述连接部件之间的固定连接为半永久固定连接,所述第二调节部件通过螺钉固定在所述第一调节部件上,所述第三调节部件通过螺钉固定在所述第二调节部件上。In one embodiment, the fixed connection between the first adjusting component and the connecting component is a semi-permanent fixed connection, the second adjusting component is fixed on the first adjusting component by a screw, and the third adjusting component is The component is fixed on the second adjusting component by screws.
在一个实施例中,所述多个连接座包括第一连接座和第二连接座,所述多个支撑座包括第一支撑座和第二支撑座。In one embodiment, the plurality of connecting seats includes a first connecting seat and a second connecting seat, and the plurality of supporting seats includes a first supporting seat and a second supporting seat.
在一个实施例中,所述第二调节部件具有第一端部和第二端部,所述第一端部设有第一列槽孔,所述第二端部设有第二列槽孔,所述第一列槽孔与所述第二列槽孔具有相同的排布。In one embodiment, the second adjusting member has a first end and a second end, the first end is provided with a first row of slots, and the second end is provided with a second row of slots The slot holes in the first row and the slots in the second row have the same arrangement.
在一个实施例中,所述第一支撑座的第二侧板上设有多个螺孔,所述多个螺孔与所述第二调节部件的第一端部上的所述第一列槽孔一一对应;所述第二支撑座的第二侧板上设有多个螺孔,所述多个螺孔与所述第二调节部件的第二端部上的所述第二列槽孔一一对应。In one embodiment, the second side plate of the first support seat is provided with a plurality of screw holes, and the plurality of screw holes are connected to the first row on the first end of the second adjusting member. The slot holes correspond one to one; the second side plate of the second support seat is provided with a plurality of screw holes, and the plurality of screw holes correspond to the second row on the second end of the second adjusting member The slots correspond one by one.
在一个实施例中,所述第一列槽孔与所述第二列槽孔中每个槽孔为长型槽孔,且其长度方向为所述第二方向。In one embodiment, each slot in the first row of slots and the second row of slots is an elongated slot, and its length direction is the second direction.
在一个实施例中,所述第一列槽孔和所述第二列槽孔中的槽孔为U型或L型槽孔。In an embodiment, the slots in the first row of slots and the second row of slots are U-shaped or L-shaped slots.
在一个实施例中,所述第二调节部件在所述第一端部设有一列或多列螺孔,在所述第二端部设有一列或多列螺孔,所述第一端部的一列或多列螺孔与所述第二端部的一列或多 列螺孔具有相同的排布。In one embodiment, the second adjusting member is provided with one or more rows of screw holes at the first end, and one or more rows of screw holes are provided at the second end, and the first end The one or more rows of screw holes in the second end have the same arrangement as the one or more rows of screw holes in the second end.
在一个实施例中,所述第三调节部件具有第三端部和第四端部,所述第三端部对应于所述第二调节部件的第一端部,所述第四端部对应于所述第二调节部件的所述第二端部;所述第三端部和所述第四端部上均设有多个槽孔,且所述第三端部上的所述多个槽孔与所述第四端部上的所述多个槽孔具有相同的排布。In one embodiment, the third adjustment member has a third end and a fourth end, the third end corresponds to the first end of the second adjustment member, and the fourth end corresponds to On the second end of the second adjusting member; each of the third end and the fourth end is provided with a plurality of slots, and the plurality of slots on the third end The slot holes and the plurality of slots on the fourth end have the same arrangement.
在一个实施例中,所述第三端部和第四端部上的槽孔为长形槽孔,其长度方向为所述第三方向,所述第三端部上的每一个槽孔对应于所述第二调节部件的第一端部上的一列螺孔,所述第四端部上的每一个槽孔对应于所述第二调节部件的第二端部上的一列螺孔。In one embodiment, the slots on the third end and the fourth end are elongated slots, the length direction of which is the third direction, and each slot on the third end corresponds to A row of screw holes on the first end of the second adjustment component, and each slot on the fourth end corresponds to a row of screw holes on the second end of the second adjustment component.
在一个实施例中,所述第三端部和所述第四端部上的所述多个槽孔为U型或L型槽孔。In an embodiment, the plurality of slots on the third end and the fourth end are U-shaped or L-shaped slots.
在一个实施例中,安装部设有多组螺孔,以用于适配不同安装孔位的辅助设备。In one embodiment, the mounting part is provided with multiple sets of screw holes for adapting auxiliary equipment with different mounting hole positions.
在一个实施例中,所述安装部的表面与地面平行。In one embodiment, the surface of the mounting part is parallel to the ground.
在一个实施例中,所述辅助设备为前向激光雷达。In one embodiment, the auxiliary equipment is a forward lidar.
在一个实施例中,所述安装部的表面与地面垂直。In one embodiment, the surface of the mounting part is perpendicular to the ground.
在一个实施例中,所述辅助设备为毫米波雷达或超声波雷达。In one embodiment, the auxiliary equipment is millimeter wave radar or ultrasonic radar.
图1为本申请一实施例中用于自动驾驶车辆辅助设备的安装组件的结构示意图。FIG. 1 is a schematic structural diagram of an installation assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
图2为本申请一实施例中用于自动驾驶车辆辅助设备的安装组件的安装示意图。FIG. 2 is a schematic diagram of the installation of the installation assembly for the auxiliary equipment of the automatic driving vehicle in an embodiment of the application.
图3为本申请一实施例中用于自动驾驶车辆辅助设备的安装组件的结构示意图。Fig. 3 is a schematic structural diagram of an installation assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
图4为本申请一实施例中用于自动驾驶车辆辅助设备的安装组件的结构示意图。Fig. 4 is a schematic structural diagram of an installation assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
图5为本申请一实施例中用于自动驾驶车辆辅助设备的安装组件的安装示意图。Fig. 5 is a schematic diagram of the installation of the installation assembly for the auxiliary equipment of the automatic driving vehicle in an embodiment of the application.
图6为本申请一实施例中用于自动驾驶车辆辅助设备的安装组件的结构示意图。Fig. 6 is a schematic structural diagram of a mounting assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
图7为本申请一实施例中用于自动驾驶车辆辅助设备的安装组件的结构示意图。Fig. 7 is a schematic structural diagram of an installation assembly for auxiliary equipment of an automatic driving vehicle in an embodiment of the application.
为使本申请实施例的目的、技术方案和优点更加清楚,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述。显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments.
本申请在一实施例中提供了一种用于自动驾驶车辆辅助设备的安装组件,如图1和图2所示。所述安装组件包括:连接部件1,所述连接部件1固定在所述自动驾驶车辆上;第一调节部件2,所述第一调节部件2附接在所述连接部件上并且在所述第一方向上可调 节;第二调节部件3,所述第二调节部件3附接在所述第一调节部件上并且在所述第二方向上可调节;以及第三调节部件4,所述第三调节部件4附接在所述第二调节部件上并且在所述第三方向上可调节,所述第三调节部件设置有用于安装所述辅助设备的安装部。In an embodiment of the present application, a mounting assembly for auxiliary equipment of an automatic driving vehicle is provided, as shown in FIG. 1 and FIG. 2. The mounting assembly includes: a connecting part 1, the connecting part 1 is fixed on the autonomous vehicle; a first adjusting part 2, the first adjusting part 2 is attached to the connecting part and is in the first Adjustable in one direction; a second adjusting member 3, the second adjusting member 3 is attached to the first adjusting member and adjustable in the second direction; and a third adjusting member 4, the first The three adjusting member 4 is attached to the second adjusting member and is adjustable in the third direction, and the third adjusting member is provided with a mounting part for installing the auxiliary equipment.
本实施例中的三个方向可以是三个互相垂直的方向,例如空间坐标系中x轴、y轴和z轴的方向。The three directions in this embodiment may be three mutually perpendicular directions, such as the directions of the x-axis, y-axis, and z-axis in the spatial coordinate system.
以前向激光雷达为辅助设备为例。传统的固定方式中,前向激光雷达是通过胶黏或螺栓的连接方式直接固定在车辆上的。因此,传统的雷达固定方式无法灵活调节雷达的安装高度、水平和竖直视场角度,其安装标定困难。Take the forward-facing lidar as an auxiliary device as an example. In the traditional fixing method, the forward lidar is directly fixed to the vehicle through glue or bolt connection. Therefore, the traditional radar fixing method cannot flexibly adjust the installation height, horizontal and vertical field of view angle of the radar, and its installation and calibration are difficult.
通过本实施例中提供的用于自动驾驶车辆辅助设备的安装组件,前向激光雷达通过安装组件固定在车辆上,该安装组件在三个方向维度上可以进行自由调节,由此实现了激光雷达在安装高度、水平以及垂直视场角度上的灵活调节,满足了不同车型的自动驾驶车辆对前向激光雷达的安装标定的需求。Through the mounting assembly for auxiliary equipment for autonomous driving vehicles provided in this embodiment, the forward-facing lidar is fixed on the vehicle through the mounting assembly, which can be adjusted freely in three dimensions, thereby realizing the lidar The flexible adjustment of the installation height, horizontal and vertical field of view angles meets the requirements for the installation and calibration of forward Lidar for autonomous vehicles of different models.
本申请在一实施例中提供了一种用于自动驾驶车辆辅助设备的安装组件,结合图3和图4所示。In an embodiment of the present application, a mounting assembly for auxiliary equipment of an automatic driving vehicle is provided, as shown in FIG. 3 and FIG. 4.
所述连接部件1包括第一连接座11和第二连接座12。所述第一调节部件2包括第一支撑座21和第二支撑座22。第一连接座11和第二连接座12分别固定在车辆的前防撞梁5上。第一支撑座21和第二支撑座22分别具有第一侧板和第二侧板,第一侧板和第二侧板相邻且呈角度,例如呈直角。第一支撑座21的第一侧板可调节地固定在第一连接座11上,第二支撑座22的第一侧板可调节地固定在第二连接座12上。所述第一支撑座21和第二支撑座22可同步调节,且其调节方向与地面垂直。第二调节部件3可调节地固定在第一支撑座21和第二支撑座22的第二侧板上。所述第二调节部件3的调节方向在水平面上与车辆的行驶方向垂直。第三调节部件4可调节地固定在所述第二调节部件3上,所述第三调节部件4的调节方向在水平面上与车辆的行驶方向平行。所述车前激光雷达安装在所述第三调节部件4的安装部上。The connecting component 1 includes a first connecting seat 11 and a second connecting seat 12. The first adjusting component 2 includes a first support seat 21 and a second support seat 22. The first connecting seat 11 and the second connecting seat 12 are respectively fixed on the front anti-collision beam 5 of the vehicle. The first support base 21 and the second support base 22 respectively have a first side plate and a second side plate, and the first side plate and the second side plate are adjacent to each other and form an angle, such as a right angle. The first side plate of the first support seat 21 is adjustably fixed on the first connecting seat 11, and the first side plate of the second support seat 22 is adjustably fixed on the second connecting seat 12. The first support base 21 and the second support base 22 can be adjusted synchronously, and the adjustment direction thereof is perpendicular to the ground. The second adjusting component 3 is adjustably fixed on the second side plates of the first support base 21 and the second support base 22. The adjustment direction of the second adjustment component 3 is perpendicular to the traveling direction of the vehicle on the horizontal plane. The third adjusting member 4 is adjustably fixed on the second adjusting member 3, and the adjusting direction of the third adjusting member 4 is parallel to the traveling direction of the vehicle on the horizontal plane. The front lidar is installed on the installation part of the third adjusting component 4.
在传统的固定方式中,雷达是通过胶黏或螺栓的连接方式固定在车辆的前保险杆盖上。由于胶粘的方式会随着使用时间变长,黏性降低,车身抖动、灰尘等也会进一步加速雷达的松动。而对于前保险杠盖上开孔、使用螺栓连接的方式,由于前保险杠盖本身材料刚度较低,车辆抖动时,雷达与车身间会有较大位移和偏转。In the traditional fixing method, the radar is fixed to the front bumper cover of the vehicle through glue or bolt connection. As the way of gluing will become longer with the use of time, the viscosity will decrease, body shake, dust, etc. will further accelerate the loosening of the radar. As for the method of opening the front bumper cover and using bolts, due to the low material rigidity of the front bumper cover, when the vehicle shakes, there will be a large displacement and deflection between the radar and the body.
通过本实施例提供的用于自动驾驶车辆辅助设备的安装组件,以前向激光雷达为例,可将激光雷达以可调节的方式固定在车辆前防撞梁上。由于该安装组件是通过螺栓或高强度胶直接固定在车辆前防撞梁上,因此,可将激光雷达进行牢固地安装。并且,按照这种 方式,安装组件与车辆防撞梁的固定连接方式并不影响整个安装组件的调节自由度。又由于该安装组件可以在三个方向维度上进行自由调节,这使得车辆前向激光雷达可以根据不同车型的需要调节其安装高度、水平以及垂直视场角度。也就是说,本实施例提供的安装组件,在保证前向激光雷达牢固安装的同时,实现了该前向激光雷达可灵活调节的目的。Through the installation assembly for auxiliary equipment of an automatic driving vehicle provided in this embodiment, the forward laser radar is taken as an example, and the laser radar can be fixed on the front anti-collision beam of the vehicle in an adjustable manner. Since the installation component is directly fixed on the front anti-collision beam of the vehicle by bolts or high-strength glue, the lidar can be firmly installed. Moreover, in this way, the fixed connection of the mounting assembly and the vehicle anti-collision beam does not affect the freedom of adjustment of the entire mounting assembly. In addition, because the installation assembly can be adjusted freely in three dimensions, the vehicle forward lidar can be adjusted according to the needs of different vehicle models, its installation height, horizontal and vertical field of view angles. That is to say, the mounting assembly provided in this embodiment achieves the purpose of flexible adjustment of the forward laser radar while ensuring that the forward laser radar is firmly installed.
在本申请的一个实施例中,如图5所示,以前向激光雷达为例。车辆的前防撞梁5上可设有攻螺孔,第一和第二连接座分别通过螺栓穿过攻螺孔固定在车辆的前防撞梁5上。可选地,第一和第二连接座也可以通过高强度胶直接粘接在车辆的前防撞梁5上。可选地,第一和第二连接座也可以通过焊接方式直接固定在车辆的前防撞梁5上。前向激光雷达6可通过螺栓固定在第三调节部件4的安装部上。In an embodiment of the present application, as shown in FIG. 5, the forward laser radar is taken as an example. The front anti-collision beam 5 of the vehicle may be provided with tapped holes, and the first and second connecting seats are respectively fixed to the front anti-collision beam 5 of the vehicle by bolts passing through the tapped holes. Optionally, the first and second connecting seats can also be directly bonded to the front anti-collision beam 5 of the vehicle through high-strength glue. Optionally, the first and second connecting seats can also be directly fixed on the front anti-collision beam 5 of the vehicle by welding. The forward laser radar 6 can be fixed to the installation part of the third adjusting component 4 by bolts.
结合图4和图5所示,以第一连接座11和第一支撑座21为例(第二连接座12和第二支撑座22的连接方式相同,不再累述),所述第一连接座11上设有一列或多列螺孔,每一列螺孔中包括多个螺孔。所述第一支撑座21的第一侧板上设有多个槽孔,其中每个槽孔对应第一连接座11上的一列螺孔,使得当第一支撑座21沿着垂直于地面的方向上下移动时,每一个槽孔中至少有一个螺孔。例如,当根据实际情况需要降低激光雷达距离地面的高度时,可以将第一支撑座21的第一侧板沿着垂直于地面的方向向下滑动到合适的位置,此时是可以用肉眼观察到槽孔沿着对应的一列螺孔向下滑动到某一合适的位置处,可以看到有完整的螺孔出现在槽孔中,用螺钉穿过槽孔和该对应的完整螺孔,以将第一支撑座21的第一侧板固定在第一连接座11上。例如,当根据实际情况需要升高激光雷达距离地面的高度时,可以将第一支撑座21的第一侧板沿着垂直于地面的方向,向上滑动到合适的位置,此时是可以用肉眼观察到槽孔沿着对应的一列螺孔向上滑动到某一合适的位置处,可以看到有完整的螺孔出现在槽孔中,用螺钉穿过槽孔和该对应的完整螺孔,以将第一支撑座21的第一侧板固定在第一连接座11上。本实施例中,第一支撑座21和第二支撑座22的第一侧板上的槽孔为长型槽孔,其长度方向垂直于地面。With reference to Figures 4 and 5, taking the first connecting seat 11 and the first supporting seat 21 as an example (the second connecting seat 12 and the second supporting seat 22 are connected in the same manner and will not be repeated here). One or more rows of screw holes are provided on the connecting seat 11, and each row of screw holes includes a plurality of screw holes. The first side plate of the first support base 21 is provided with a plurality of slots, each of which corresponds to a row of screw holes on the first connecting base 11, so that when the first support base 21 runs along a vertical axis to the ground When moving up and down, there is at least one screw hole in each slot. For example, when it is necessary to reduce the height of the lidar from the ground according to the actual situation, the first side plate of the first support base 21 can be slid down to a suitable position along the direction perpendicular to the ground. At this time, it can be observed with the naked eye. When the slotted hole slides down the corresponding row of screw holes to a suitable position, you can see that a complete screw hole appears in the slotted hole. Use the screw to pass through the slotted hole and the corresponding complete screw hole to The first side plate of the first supporting seat 21 is fixed on the first connecting seat 11. For example, when the height of the lidar from the ground needs to be increased according to the actual situation, the first side plate of the first support base 21 can be slid up to a suitable position along the direction perpendicular to the ground. Observe that the slotted hole slides up to a suitable position along the corresponding row of screw holes. It can be seen that a complete screw hole appears in the slotted hole. Use a screw to pass through the slotted hole and the corresponding complete screw hole to The first side plate of the first supporting seat 21 is fixed on the first connecting seat 11. In this embodiment, the slots on the first side plates of the first support base 21 and the second support base 22 are elongated slots, and the length direction thereof is perpendicular to the ground.
在将第一支撑座21的第一侧板固定在第一连接座11上,还可在螺钉与螺孔的连接处滴上螺纹胶使得其连接作为半永久固定连接。When fixing the first side plate of the first supporting seat 21 on the first connecting seat 11, threaded glue can be dripped on the connection between the screw and the screw hole to make the connection as a semi-permanent fixed connection.
在本实施例提供的用于自动驾驶车辆辅助设备的安装组件中,第一调节部件可沿垂直于地面的方向相对于连接部件进行上下移动,使得该安装组件上的激光雷达相对于地面的高度可调节。此外,第一调节部件与连接部件之间的半永久固定连接使得安装组件的整体刚度不会随着使用时间的增长而显著下降。In the mounting assembly for auxiliary equipment for autonomous driving vehicles provided in this embodiment, the first adjusting member can move up and down relative to the connecting member in a direction perpendicular to the ground, so that the height of the lidar on the mounting assembly relative to the ground adjustable. In addition, the semi-permanent fixed connection between the first adjusting component and the connecting component prevents the overall rigidity of the mounting assembly from significantly decreasing with the increase in use time.
在本申请的一个实施例中,如图6所示,所述第二调节部件3具有第一端部和第二端部。第一端部设有第一列槽孔。该第一列槽孔包括多个槽孔。在第一支撑座21的第二侧 板上设有多个螺孔。所述第一支撑座21的第二侧板上的螺孔的数量与第二调节部件3的第一端部上的槽孔的数量相等,且每个所述螺孔与每个所述槽孔一一对应。所述第二调节部件3的第一端部设通过螺钉穿过其上的槽孔与第一支撑座21的第二侧板上的对应螺孔固定于所述第一支撑座21的第二侧板上。所述第二调节部件3在第二端部设有第二列槽孔。该第二列槽孔包括多个槽孔。第二支撑座22的第二侧板上设有多个螺孔,所述第二支撑座22的第二侧板上的螺孔的数量与第二调节部件3的第二端部上的槽孔的数量相等,且每个所述螺孔与每个所述槽孔一一对应。所述第二调节部件3的第二端部设通过螺钉穿过其上的槽孔与第二支撑座22的第二侧板上的对应螺孔固定于所述第二支撑座22的第二侧板上。本实施例中,第一支撑座21的第二侧板上的多个螺孔与第二支撑座21的第二侧板上的多个螺孔具有相同或相似的排布。相应地,所述第二调节部件3的第一端部上的多个槽孔和其第二端部上的多个槽孔也具有相同或相似的排布。In an embodiment of the present application, as shown in FIG. 6, the second adjusting member 3 has a first end and a second end. The first end is provided with a first row of slots. The first row of slots includes a plurality of slots. A plurality of screw holes are provided on the second side plate of the first support seat 21. The number of screw holes on the second side plate of the first support seat 21 is equal to the number of slot holes on the first end of the second adjusting member 3, and each of the screw holes is connected to each of the grooves. The holes correspond one by one. The first end of the second adjusting component 3 is fixed to the second end of the first supporting base 21 by a screw passing through the slot hole and the corresponding screw hole on the second side plate of the first supporting base 21. On the side panel. The second adjusting member 3 is provided with a second row of slots at the second end. The second row of slots includes a plurality of slots. A plurality of screw holes are provided on the second side plate of the second support base 22, and the number of the screw holes on the second side plate of the second support base 22 is the same as the grooves on the second end of the second adjusting member 3. The number of holes is equal, and each screw hole corresponds to each slot hole one to one. The second end of the second adjusting component 3 is fixed to the second end of the second supporting base 22 by a screw passing through the slot hole and the corresponding screw hole on the second side plate of the second supporting base 22. On the side panel. In this embodiment, the multiple screw holes on the second side plate of the first support base 21 and the multiple screw holes on the second side plate of the second support base 21 have the same or similar arrangement. Correspondingly, the plurality of slots on the first end of the second adjusting member 3 and the plurality of slots on the second end of the second adjusting member 3 also have the same or similar arrangement.
本实施例中,第二调节部件3的第一端部和第二端部上的槽孔为长型槽孔,其长度方向在水平面上与所述车辆的行驶方向垂直。第一列长型槽孔与第二列长型槽孔的排布相同。槽孔的长度可根据需要设计。In this embodiment, the slots on the first end and the second end of the second adjusting component 3 are elongated slots, and the length direction of the slot is perpendicular to the traveling direction of the vehicle on the horizontal plane. The arrangement of the elongated slots in the first row is the same as the arrangement of the elongated slots in the second row. The length of the slot can be designed as required.
第二调节部件3的作用是保证激光雷达能够居中地安装在车辆前防撞梁上。这是由于,首先,前防撞梁具有弧度,不同车型的弧度不一样,而这第一支撑座21和第二支撑座22是平的,需要在前防撞梁的长度方向上找到适合的位置来打孔安装;其次,手工打孔会有偏差,设计槽孔后,即使支撑座在前防撞梁的长度方向上有偏差,第二调节部件3也可以再次通过槽孔及车身上的其它特征对中;最后,有些车型前防撞梁上还有其它附件,需要找到合适的支撑座间距来安装组件,而第二调节部件3上设计的槽孔,就可以满足不同间距的安装需求,不用重新设计第二调节部件3。The function of the second adjusting component 3 is to ensure that the lidar can be centrally installed on the front anti-collision beam of the vehicle. This is because, first of all, the front anti-collision beam has a curvature, and the curvature of different models is different, and the first support seat 21 and the second support seat 22 are flat, and it is necessary to find a suitable one in the length direction of the front anti-collision beam Secondly, there will be deviations in manual drilling. After the slot is designed, even if the support seat is deviated in the length direction of the front anti-collision beam, the second adjustment component 3 can pass through the slot and the car body again. Other features are centered; finally, some models have other accessories on the front anti-collision beam. It is necessary to find a suitable distance between the support bases to install the components, and the slot holes designed on the second adjustment part 3 can meet the installation requirements of different distances. , There is no need to redesign the second adjusting part 3.
在另一实施例中,所述第一列槽孔与第二列槽孔中的槽孔均可设计为U型槽孔或L型槽孔,使得第二调节部件3可以绕垂直于地面的轴线偏转,实现进一步适配不同弧度的车辆前防撞梁,由此避免了更改其他零部件的设计。In another embodiment, the slots in the first row of slots and the slots in the second row of slots can be designed as U-shaped slots or L-shaped slots, so that the second adjusting member 3 can be wound around the vertical to the ground. The axis is deflected to further adapt to the front anti-collision beams of vehicles with different curvatures, thereby avoiding changing the design of other parts.
在本申请的一个实施例中,如图7所示,所述第二调节部件3在第一端部处还设置有多列螺孔,在第二端部处也地设置有多列螺孔。所述第三调节部件4具有与所述第一端部对应的第三端部和与所述第二端部对应的第四端部。在第三端部处设有多个槽孔,在第四端部处也地设置有多个槽孔。第三调节部件4的第三端部的每个槽孔对应于第二调节部件3的第一端部上的一列螺孔,第三调节部件4的第四端部上的每个槽孔对应于第二调节部件3的第二端部上的一列螺孔。本实施例中,所述第一端部上的多列螺孔与所述第二端部上的多列螺孔具有相同或相似的排布。所述第三端部上的槽孔和第四端部上的槽孔具有相 同或相似的排布。所述第三端部上和第四端部上的槽孔均为长型槽孔,其长度方向在水平面上与车辆的行驶方向平行。In an embodiment of the present application, as shown in FIG. 7, the second adjusting member 3 is further provided with multiple rows of screw holes at the first end, and multiple rows of screw holes are also provided at the second end. . The third adjusting member 4 has a third end corresponding to the first end and a fourth end corresponding to the second end. A plurality of slot holes are provided at the third end, and a plurality of slot holes are also provided at the fourth end. Each slot on the third end of the third adjusting component 4 corresponds to a row of screw holes on the first end of the second adjusting component 3, and each slot on the fourth end of the third adjusting component 4 corresponds to A row of screw holes on the second end of the second adjusting member 3. In this embodiment, the multiple rows of screw holes on the first end and the multiple rows of screw holes on the second end have the same or similar arrangement. The slots on the third end and the slots on the fourth end have the same or similar arrangement. The slots on the third end and the fourth end are both elongated slots, and the length direction of the slot is parallel to the driving direction of the vehicle on the horizontal plane.
在本实施例提供的用于自动驾驶车辆辅助设备的安装组件中,所述第三调节部件4可以根据需要沿着车辆的行驶方向进行调节。例如,当需要激光雷达向车头前方调节时,将第三调节部件4沿着平行于车辆的行驶方向移动,在移动过程中保持第三调节部件4上的每一个槽孔与第二调节部件3上的一列螺孔对应,当移动到合适的位置时,通过螺钉穿过第三调节部件4上的槽孔与对应的一列螺孔中完整地出现在该槽孔中的一个螺孔,将第三调节部件4固定在第二调节部件3上。例如,当需要将激光雷达向车头相反方向移动时,将第三调节部件4沿着车头相反方向移动,在移动过程中保持第三调节部件4上的每一个槽孔与第二调节部件3上的一列螺孔对应,当移动到合适的位置时,通过螺钉穿过第三调节部件4上的槽孔与对应的一列螺孔中完整地出现在该槽孔中的一个螺孔,将第三调节部件4固定在第二调节部件3上。In the installation assembly for auxiliary equipment of an automatic driving vehicle provided in this embodiment, the third adjustment component 4 can be adjusted along the traveling direction of the vehicle as required. For example, when the lidar needs to be adjusted to the front of the car, move the third adjusting component 4 parallel to the direction of travel of the vehicle, and keep each slot on the third adjusting component 4 and the second adjusting component 3 during the movement. The upper row of screw holes corresponds to it. When moved to a suitable position, pass the screw through the slot hole on the third adjusting component 4 and a screw hole in the corresponding row of screw holes that appears completely in the slot hole. The three adjusting part 4 is fixed on the second adjusting part 3. For example, when it is necessary to move the lidar to the opposite direction of the front of the vehicle, move the third adjusting component 4 in the opposite direction of the front of the vehicle, and keep each slot on the third adjusting component 4 and the second adjusting component 3 during the movement. When moving to a suitable position, pass the screw through the slot hole on the third adjusting component 4 and a screw hole in the corresponding row of screw holes that appears completely in the slot hole when moved to a suitable position, and the third The adjusting member 4 is fixed on the second adjusting member 3.
由于不同激光雷达的尺寸不一样,比如换一个大尺寸的激光雷达,为了不影响车辆头部的整体外观,就需要将激光雷达的位置向靠近车辆侧移动;另一方面,不同车型的前防撞梁距离车头最外侧的距离是不一样的,为了使所选用的激光雷达能够合适地安装在车辆的前防撞梁上,也需要能够调节激光雷达与车辆前防撞梁之间的距离。Due to the different sizes of different lidars, such as changing to a larger lidar, in order not to affect the overall appearance of the vehicle head, the position of the lidar needs to be moved closer to the vehicle side; on the other hand, the front defense of different models The distance between the collision beam and the outermost side of the front of the vehicle is different. In order for the selected laser radar to be properly installed on the front anti-collision beam of the vehicle, it is also necessary to be able to adjust the distance between the laser radar and the front anti-collision beam of the vehicle.
在本实施例提供的用于自动驾驶车辆前向激光雷达的安装组件中,第三调节部件4与车辆防撞梁之间的距离可调整,使得第三调节部件4的安装部上安装的激光雷达与车辆防撞梁之间的距离是可调整的。由此,实现了在不同尺寸的激光雷达,以及不同车型防撞梁距离车头最外侧的距离不同的情况下,可灵活安装前向激光雷达的目标。In the installation assembly for the forward lidar of an autonomous vehicle provided by this embodiment, the distance between the third adjustment component 4 and the vehicle anti-collision beam can be adjusted so that the laser installed on the installation part of the third adjustment component 4 The distance between the radar and the vehicle anti-collision beam is adjustable. As a result, it is possible to flexibly install the forward-facing lidar in different sizes of lidars and different vehicle models with different distances from the outermost side of the front of the anti-collision beam.
在另一实施例中,第三调节部件4的第三端部和第四端部上的槽孔均可以为U型槽孔或L型槽孔,使得第三调节部件4可以绕垂直于地面的轴线偏转,实现在雷达纵轴线与车身纵轴线之间存在一定偏转角的情况下,能够将雷达的纵轴线再次偏转一定角度,使其纵轴与车身纵轴平行,由此避免了更改其他零部件的设计。In another embodiment, the slots on the third end and the fourth end of the third adjusting component 4 can be U-shaped or L-shaped slots, so that the third adjusting component 4 can be wound perpendicular to the ground. The axis deflection of the radar realizes that when there is a certain deflection angle between the longitudinal axis of the radar and the longitudinal axis of the vehicle body, the longitudinal axis of the radar can be deflected again by a certain angle so that its longitudinal axis is parallel to the longitudinal axis of the vehicle body, thereby avoiding changing other Design of parts.
在本申请的另一实施例提供的用于自动驾驶车辆辅助设备的安装组件中,第一调节部件2的肋板可以设计为不同的形状,例如L形、三角形、弧形等,从而避免出现安装组件与某些特定车型的进气格栅相干扰的情况。In the mounting assembly for auxiliary equipment for automatic driving vehicles provided by another embodiment of the present application, the ribs of the first adjustment component 2 can be designed in different shapes, such as L-shaped, triangular, arc-shaped, etc., so as to avoid occurrence of The installation component interferes with the air intake grille of some specific models.
在本申请的另一实施例提供的用于自动驾驶车辆辅助设备的安装组件中,如图6所示,第三调节部件4上设有多组螺孔,用于适配具有不同安装孔位的激光雷达。由此可以实现,在更换激光雷达时无需拆卸其他零部件。In the installation assembly for auxiliary equipment of an automatic driving vehicle provided by another embodiment of the present application, as shown in FIG. 6, the third adjusting component 4 is provided with multiple sets of screw holes for adapting to different installation hole positions. Lidar. It can be realized that there is no need to disassemble other parts when replacing the lidar.
在本申请的另一实施例中,在车头整体刚度足够高时,如货车车头,用于自动驾驶车 辆辅助设备的安装组件还可以直接固定在进气格栅上。这样避免了对车前保险杠的拆卸,方便安装。In another embodiment of the present application, when the overall rigidity of the front of the vehicle is sufficiently high, such as the front of a truck, the mounting assembly for auxiliary equipment of the autonomous vehicle can also be directly fixed on the air intake grille. In this way, the disassembly of the front bumper of the car is avoided, and the installation is convenient.
在本申请的另一实施例提供的用于自动驾驶车辆辅助设备的安装组件中,第三调节部件4上用于安装辅助设备的安装部的表面可以设计为与地面垂直,以便于其安装平面与地面垂直的雷达进行安装,例如毫米波雷达、超声波雷达等。In the mounting assembly for auxiliary equipment of an autonomous driving vehicle provided by another embodiment of the present application, the surface of the mounting part for mounting the auxiliary equipment on the third adjusting component 4 may be designed to be perpendicular to the ground to facilitate its installation plane Install radars perpendicular to the ground, such as millimeter wave radars, ultrasonic radars, etc.
以上实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered as the range described in this specification.
以上所述实施例仅表达了本申请的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本申请构思的前提下,还可以做出若干变形和改进,这些都属于本申请的保护范围。因此,本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent of this application shall be subject to the appended claims.
Claims (23)
- 一种用于自动驾驶车辆辅助设备的安装组件,包括:An installation assembly for auxiliary equipment of an automatic driving vehicle, including:连接部件,固定在所述自动驾驶车辆上;The connecting component is fixed on the autonomous vehicle;第一调节部件,附接在所述连接部件上并且在所述第一方向上可调节;A first adjusting part attached to the connecting part and adjustable in the first direction;第二调节部件,附接在所述第一调节部件上并且在所述第二方向上可调节;以及A second adjustment member attached to the first adjustment member and adjustable in the second direction; and第三调节部件,附接在所述第二调节部件上并且在所述第三方向上可调节,所述第三调节部件设置有用于安装所述辅助设备的安装部。A third adjusting component is attached to the second adjusting component and is adjustable in the third direction, and the third adjusting component is provided with an installation part for installing the auxiliary equipment.
- 根据权利要求1所述的安装组件,其中,所述第一方向平行于所述自动驾驶车辆的高度方向;所述第二方向平行于所述自动驾驶车辆的宽度方向;以及所述第三方向平行于所述自动驾驶车辆的长度方向。The mounting assembly of claim 1, wherein the first direction is parallel to the height direction of the autonomous vehicle; the second direction is parallel to the width direction of the autonomous vehicle; and the third direction Parallel to the length of the autonomous vehicle.
- 根据权利要求1所述的安装组件,其中,所述连接部件包括彼此间隔地固定在所述自动驾驶车辆上的多个连接座,所述第一调节部包括多个支撑座,所述撑座与所述连接座一一对应。The mounting assembly according to claim 1, wherein the connecting member includes a plurality of connecting seats fixed to the autonomous vehicle at intervals, the first adjusting part includes a plurality of supporting seats, and the supporting seats One-to-one correspondence with the connecting seat.
- 根据权利要求3所述的安装组件,其中,所述多个连接座彼此间隔地固定在所述自动驾驶车辆的前防撞梁上。The mounting assembly according to claim 3, wherein the plurality of connecting seats are fixed to the front anti-collision beam of the autonomous vehicle at intervals.
- 根据权利要求3所述的安装组件,其中,所述支撑座具有第一侧板和第二侧板,所述第一侧板和第二侧板邻接且呈一定角度,第一侧板可调节地附接在一个连接座上。The mounting assembly according to claim 3, wherein the support base has a first side plate and a second side plate, the first side plate and the second side plate are adjacent and at a certain angle, and the first side plate is adjustable The ground is attached to a connecting seat.
- 根据权利要求1所述的安装组件,其中,所述连接部件通过螺接、粘接或焊接固定在所述自动驾驶车辆上。The mounting assembly according to claim 1, wherein the connecting member is fixed on the autonomous vehicle by screwing, bonding or welding.
- 根据权利要求2所述的安装组件,其中,所述连接座上设有一列或多列螺孔,每一列螺孔中包括多个螺孔;所述支撑座的第一侧板上设有一列或多列槽孔,所述支撑座的第一侧板上的每一列槽孔对应所述连接座上的一列螺孔。The mounting assembly according to claim 2, wherein the connecting seat is provided with one or more rows of screw holes, and each row of screw holes includes a plurality of screw holes; the first side plate of the support seat is provided with a row Or multiple rows of slots, each row of slots on the first side plate of the support seat corresponds to a row of screw holes on the connecting seat.
- 根据权利要求6所述的安装组件,其中,所述支撑座的第一侧板上的所述槽孔为长型槽孔,其长度是预先确定的,且其长度方向为所述第一方向。The mounting assembly according to claim 6, wherein the slot hole on the first side plate of the support base is a long slot hole, the length of which is predetermined, and the length direction is the first direction .
- 根据权利要求1所述的安装组件,其中,所述第一调节部件与所述连接部件之间的固定连接为半永久固定连接,所述第二调节部件通过螺钉固定在所述第一调节部件上,所述第三调节部件通过螺钉固定在所述第二调节部件上。The mounting assembly according to claim 1, wherein the fixed connection between the first adjusting part and the connecting part is a semi-permanent fixed connection, and the second adjusting part is fixed on the first adjusting part by screws , The third adjusting component is fixed on the second adjusting component by screws.
- 根据权利要求5所述的安装组件,其中,所述多个连接座包括第一连接座和第二连接座,所述多个支撑座包括第一支撑座和第二支撑座。The mounting assembly according to claim 5, wherein the plurality of connecting seats includes a first connecting seat and a second connecting seat, and the plurality of supporting seats includes a first supporting seat and a second supporting seat.
- 根据权利要求10所述的安装组件,其中,所述第二调节部件具有第一端部和第二端部,所述第一端部设有第一列槽孔,所述第二端部设有第二列槽孔,所述第一列槽孔与所述第二列槽孔具有相同的排布。The mounting assembly according to claim 10, wherein the second adjusting member has a first end and a second end, the first end is provided with a first row of slots, and the second end is provided with There is a second row of slots, and the first row of slots and the second row of slots have the same arrangement.
- 根据权利要求11所述的安装组件,其中,所述第一支撑座的第二侧板上设有多个螺孔,所述多个螺孔与所述第二调节部件的第一端部上的所述第一列槽孔一一对应;所述第二支撑座的第二侧板上设有多个螺孔,所述多个螺孔与所述第二调节部件的第二端部上的所述第二列槽孔一一对应。The mounting assembly according to claim 11, wherein a plurality of screw holes are provided on the second side plate of the first support base, and the plurality of screw holes are connected to the first end of the second adjusting member. The first row of slots corresponds to one-to-one; the second side plate of the second support seat is provided with a plurality of screw holes, the plurality of screw holes and the second end of the second adjustment member The second row of slots corresponds one to one.
- 根据权利要求11所述的安装组件,其中,所述第一列槽孔与所述第二列槽孔中每个槽孔为长型槽孔,且其长度方向为所述第二方向。11. The mounting assembly according to claim 11, wherein each of the first row of slots and the second row of slots is an elongated slot, and its length direction is the second direction.
- 根据权利要求11所述的安装组件,其中,所述第一列槽孔和所述第二列槽孔中的槽孔为U型或L型槽孔。The mounting assembly according to claim 11, wherein the slots in the first row of slots and the second row of slots are U-shaped or L-shaped slots.
- 根据权利要求11所述的安装组件,其中,所述第二调节部件在所述第一端部设有一列或多列螺孔,在所述第二端部设有一列或多列螺孔,所述第一端部的一列或多列螺孔与所述第二端部的一列或多列螺孔具有相同的排布。The mounting assembly according to claim 11, wherein the second adjusting member is provided with one or more rows of screw holes at the first end, and one or more rows of screw holes are provided at the second end, One or more rows of screw holes at the first end and one or more rows of screw holes at the second end have the same arrangement.
- 根据权利要求15所述的安装组件,其中,所述第三调节部件具有第三端部和第四端部,所述第三端部对应于所述第二调节部件的第一端部,所述第四端部对应于所述第二调节部件的所述第二端部;所述第三端部和所述第四端部上均设有多个槽孔,且所述第三端部上的所述多个槽孔与所述第四端部上的所述多个槽孔具有相同的排布。The mounting assembly according to claim 15, wherein the third adjusting member has a third end and a fourth end, the third end corresponding to the first end of the second adjusting member, so The fourth end portion corresponds to the second end portion of the second adjusting member; each of the third end portion and the fourth end portion is provided with a plurality of slots, and the third end portion The plurality of slots on the upper part and the plurality of slots on the fourth end have the same arrangement.
- 根据权利要求16所述的安装组件,其中,所述第三端部和第四端部上的槽孔为长形槽孔,其长度方向为所述第三方向,所述第三端部上的每一个槽孔对应于所述第二调节部件的第一端部上的一列螺孔,所述第四端部上的每一个槽孔对应于所述第二调节部件的第二端部上的一列螺孔。The mounting assembly according to claim 16, wherein the slots on the third end and the fourth end are elongated slots, the length direction of which is in the third direction, and the slots on the third end Each slot hole in the second adjusting member corresponds to a row of screw holes on the first end of the second adjusting member, and each slot hole on the fourth end corresponding to the second end of the second adjusting member A row of screw holes.
- 根据权利要求16所述的安装组件,其中,所述第三端部和所述第四端部上的所述多个槽孔为U型或L型槽孔。The mounting assembly according to claim 16, wherein the plurality of slots on the third end and the fourth end are U-shaped or L-shaped slots.
- 根据权利要求1所述的安装组件,其中,安装部设有多组螺孔,以用于适配不同安装孔位的辅助设备。The mounting assembly according to claim 1, wherein the mounting portion is provided with multiple sets of screw holes for adapting auxiliary equipment with different mounting hole positions.
- 根据权利要求19所述的安装组件,其中,所述安装部的表面与地面平行。The mounting assembly according to claim 19, wherein the surface of the mounting part is parallel to the ground.
- 根据权利要求20所述的安装组件,其中,所述辅助设备为前向激光雷达。The mounting assembly according to claim 20, wherein the auxiliary equipment is a forward laser radar.
- 根据权利要求19所述的安装组件,其中,所述安装部的表面与地面垂直。The mounting assembly according to claim 19, wherein the surface of the mounting part is perpendicular to the ground.
- 根据权利要求22所述的安装组件,其中,所述辅助设备为毫米波雷达或超声波雷达。The mounting assembly according to claim 22, wherein the auxiliary equipment is millimeter wave radar or ultrasonic radar.
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CN202080007666.3A CN113286728A (en) | 2020-05-20 | 2020-05-20 | Mounting assembly for an autonomous vehicle accessory |
PCT/CN2020/091208 WO2021232271A1 (en) | 2020-05-20 | 2020-05-20 | Mounting assembly for autonomous vehicle assistance equipment |
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PCT/CN2020/091208 WO2021232271A1 (en) | 2020-05-20 | 2020-05-20 | Mounting assembly for autonomous vehicle assistance equipment |
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WO2021232271A1 true WO2021232271A1 (en) | 2021-11-25 |
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PCT/CN2020/091208 WO2021232271A1 (en) | 2020-05-20 | 2020-05-20 | Mounting assembly for autonomous vehicle assistance equipment |
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Citations (5)
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JP2000137069A (en) * | 1998-10-30 | 2000-05-16 | Furukawa Electric Co Ltd:The | Adjustment device for axis of vehicle radar |
CN205193272U (en) * | 2015-11-20 | 2016-04-27 | 深圳路王电子科技有限公司 | Fixed bolster of adjustable vehicle radar signalling angle |
CN207902300U (en) * | 2017-12-25 | 2018-09-25 | 轩辕智驾科技(深圳)有限公司 | A kind of millimetre-wave radar universal mount, millimetre-wave radar and automobile |
CN207931620U (en) * | 2017-12-29 | 2018-10-02 | 上汽通用五菱汽车股份有限公司 | A kind of mobile unit adjusting part and automobile |
CN207992435U (en) * | 2018-03-27 | 2018-10-19 | 成都信息工程大学 | A kind of laser radar installing mechanism |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN206684292U (en) * | 2017-04-08 | 2017-11-28 | 北京卡达克数据技术中心 | Laser radar millimetre-wave radar one mounting bracket |
CN207631229U (en) * | 2017-10-20 | 2018-07-20 | 深圳市道通科技股份有限公司 | A kind of calibration facility of Lane Keeping System |
CN108107418A (en) * | 2017-11-27 | 2018-06-01 | 天津英创汇智汽车技术有限公司 | Laser radar mounting bracket and sensor-based system |
CN108333573A (en) * | 2018-03-27 | 2018-07-27 | 成都信息工程大学 | A kind of laser radar installing mechanism |
CN209938462U (en) * | 2019-03-06 | 2020-01-14 | 西安理工大学 | Height and pitch angle adjustable laser radar support |
-
2020
- 2020-05-20 CN CN202080007666.3A patent/CN113286728A/en active Pending
- 2020-05-20 WO PCT/CN2020/091208 patent/WO2021232271A1/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2000137069A (en) * | 1998-10-30 | 2000-05-16 | Furukawa Electric Co Ltd:The | Adjustment device for axis of vehicle radar |
CN205193272U (en) * | 2015-11-20 | 2016-04-27 | 深圳路王电子科技有限公司 | Fixed bolster of adjustable vehicle radar signalling angle |
CN207902300U (en) * | 2017-12-25 | 2018-09-25 | 轩辕智驾科技(深圳)有限公司 | A kind of millimetre-wave radar universal mount, millimetre-wave radar and automobile |
CN207931620U (en) * | 2017-12-29 | 2018-10-02 | 上汽通用五菱汽车股份有限公司 | A kind of mobile unit adjusting part and automobile |
CN207992435U (en) * | 2018-03-27 | 2018-10-19 | 成都信息工程大学 | A kind of laser radar installing mechanism |
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