WO2022143150A1 - 传感器模组、总成及无人驾驶车辆 - Google Patents

传感器模组、总成及无人驾驶车辆 Download PDF

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Publication number
WO2022143150A1
WO2022143150A1 PCT/CN2021/137866 CN2021137866W WO2022143150A1 WO 2022143150 A1 WO2022143150 A1 WO 2022143150A1 CN 2021137866 W CN2021137866 W CN 2021137866W WO 2022143150 A1 WO2022143150 A1 WO 2022143150A1
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WO
WIPO (PCT)
Prior art keywords
wire
bottom plate
hole
top plate
sensor module
Prior art date
Application number
PCT/CN2021/137866
Other languages
English (en)
French (fr)
Inventor
张剑
宁柯军
查灿林
刘旸
李佳
Original Assignee
北京三快在线科技有限公司
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
Priority claimed from CN202011595424.9A external-priority patent/CN112606776B/zh
Priority claimed from CN202023255532.XU external-priority patent/CN214396622U/zh
Application filed by 北京三快在线科技有限公司 filed Critical 北京三快在线科技有限公司
Publication of WO2022143150A1 publication Critical patent/WO2022143150A1/zh

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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
    • 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
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle

Definitions

  • the present application relates to the field of sensors, and in particular, to a sensor module, an assembly and an unmanned vehicle.
  • unmanned vehicles With the advancement of science and technology, unmanned vehicles have become an important direction for future vehicle development. With the safety brought by no need for manual driving, unmanned vehicles can be widely used in the transportation industry and high-risk operation fields.
  • the working process of unmanned vehicles needs to collect information about the surrounding environment through on-board sensors, so as to automatically plan and control their driving routes. Therefore, when the on-board sensor fails, it needs to be adjusted and repaired in time.
  • the housing covering the sensor is usually welded or bonded by a plurality of sheet metal parts, which is very difficult to disassemble, and it is inconvenient for the operator to repair and replace the sensor inside the housing. , and the casing will be damaged during the disassembly process, which increases the maintenance cost of the sensor.
  • the purpose of the present application is to provide a sensor module, an assembly and an unmanned vehicle to at least solve the above problems existing in the prior art.
  • the present application provides a sensor module for installation on an unmanned vehicle, the sensor module includes a casing and a camera assembly, the casing includes a top plate, a bottom plate, a light-transmitting side plate and a camera assembly.
  • the top plate and the bottom plate are arranged oppositely, the light-transmitting side plate is located between the top plate and the bottom plate, the support member extends between the top plate and the bottom plate, and the two ends of the support member are respectively detachable connected to the top plate and the bottom plate, the light-transmitting side plate is clamped between the top plate and the bottom plate, and the top plate, the bottom plate and the light-transmitting side plate are jointly enclosed for accommodating The accommodating space of the camera assembly.
  • limit slots are respectively formed on the bottom plate and the top plate, both ends of the light-transmitting side plates are clamped in the limit slots, and the light-transmitting side plates are connected to the limit slots.
  • a seal is provided in between.
  • both ends of the support member are further formed with a first positioning groove and a second positioning groove
  • the top plate is formed with a first positioning protrusion that is engaged with the first positioning groove
  • the bottom plate is formed with a first positioning protrusion.
  • a second positioning protrusion is formed on the second positioning groove
  • the two ends of the support member are respectively formed with a first threaded hole and a second threaded hole
  • the first threaded hole is connected with the first threaded hole.
  • the positioning groove communicates with the second positioning groove
  • the second threaded hole communicates with the second positioning groove
  • the first bolt passes through the top plate and is threadedly connected with the first threaded hole
  • the second bolt passes through the bottom plate and is connected with the The second threaded hole is threadedly connected.
  • the camera assembly includes a plurality of first cameras and a plurality of second cameras, and the plurality of first cameras and the plurality of second cameras are arranged at intervals along the circumference of the light-transmitting side plate, And the plurality of first cameras and the plurality of second cameras are arranged at intervals in the height direction of the sensor module.
  • the camera assembly further includes a camera mount
  • the camera mount includes a bracket sleeve extending along the height direction, and a first flange and a second flange respectively formed at both ends of the bracket sleeve.
  • a flange the first flange is connected to the bottom plate, a plurality of the first cameras are mounted on the bottom plate and are located on the outer side of the bracket sleeve, and a plurality of the second cameras are mounted on the first on the second flange.
  • both ends of the support sleeve are open, a first wire hole is formed on the bottom plate, and the open end of the support sleeve close to the bottom plate is communicated with the first wire hole, so A second wire hole is formed on the peripheral surface of the bracket sleeve, so that the first wire harness can pass through the first wire hole and the second wire hole and be connected with the first camera, and the second wire harness It can pass through the first wire hole and the bracket sleeve and be connected with the second camera.
  • the sensor module further includes a sealing sleeve with both ends open, the sealing sleeve at least partially passes through the first wire hole and extends into the bracket sleeve, the sealing sleeve is The sleeve is used for the wire harness to pass through, and the inside of the sealing sleeve is filled with sealant to seal the gap between the wire harness and the sealing sleeve, and the sealing sleeve is located inside the bracket sleeve One end of the sealant is folded inward to form an annular stop surface, and the annular stop surface is used to stop the sealant from overflowing.
  • the sensor module further includes a lidar mounting seat detachably connected to the top plate, and a lidar mounted on the lidar mounting seat, and a first wire hole is formed on the bottom plate.
  • a third wire hole is formed on the top plate, the lidar mount covers the third wire hole, and the lidar mount is formed with a fourth wire hole that communicates with the third wire hole a wire hole, so that the third wire harness can pass through the first wire hole, the third wire hole and the fourth wire hole and be connected with the lidar.
  • a side of the lidar mounting seat close to the third wire-passing hole is recessed in a direction away from the third wire-passing hole to form an escape groove, and the edge of the third wire-passing hole faces the third wire-passing hole.
  • the lidar mounting seat extends and forms an annular water blocking edge, the annular water blocking edge is accommodated in the avoidance groove, and there is a space between the top end of the annular water blocking edge and the top wall of the avoidance groove for the shelter.
  • the gap through which the third wire harness passes, and the projection of the fourth wire hole on the annular water retaining edge at least partially coincides with the annular water retaining edge.
  • the connection between the support member and the top plate and the bottom plate can be released by disassembling the support member, and the light-transmitting side clamped between the top plate and the bottom plate can be released.
  • the plate can be disassembled, so that the casing outside the camera assembly can be disassembled, so that the camera assembly inside the casing can be repaired and replaced.
  • the disassembly process of the casing is simple and convenient, and it is convenient for the operator to disassemble the casing.
  • the casing and the camera assembly inside the casing will not be damaged during the disassembly and installation of the casing.
  • the mounting bracket can facilitate the connection of the sensor assembly to the roof of the vehicle body on the one hand, and can increase the height of the sensor module on the other hand, so as to prevent the camera assembly from being blocked by other structures on the top of the vehicle body, which will affect the camera assembly. The detection effect of obstacles, etc.
  • the present application also provides a sensor assembly, including a mounting bracket and the above-mentioned sensor module, where the mounting bracket is used to mount the sensor module on the top of the vehicle body of the unmanned vehicle.
  • the sensor module includes a casing and a camera assembly, the casing includes a top plate, a bottom plate, a light-transmitting side plate and a support member, the top plate and the bottom plate are oppositely arranged, and the light-transmitting side plate is located between the top plate and the bottom plate.
  • the support member extends between the top plate and the bottom plate, two ends of the support member are detachably connected to the top plate and the bottom plate, respectively, and the light-transmitting side plate is clamped between the top plate and the bottom plate. Between the bottom plates, the top plate, the bottom plate and the light-transmitting side plate together form an accommodating space for accommodating the camera assembly.
  • the camera assembly includes a plurality of first cameras and a plurality of second cameras, and the plurality of first cameras and the plurality of second cameras are arranged at intervals along the circumference of the light-transmitting side plate, And the plurality of first cameras and the plurality of second cameras are arranged at intervals in the height direction of the sensor module.
  • the camera assembly further includes a camera mount, the camera mount includes a bracket sleeve extending along the height direction, and a first flange and a second flange respectively formed at both ends of the bracket sleeve, so The first flange is connected to the bottom plate, a plurality of the first cameras are mounted on the bottom plate and are located outside the bracket sleeve, and a plurality of the second cameras are mounted on the second flange .
  • a fifth wire hole is formed on the mounting bracket, both ends of the bracket sleeve are open, and a first wire hole is formed on the bottom plate, the bracket sleeve is close to the open end of the bottom plate and the The first wire-passing hole is connected, and a second wire-passing hole is formed on the peripheral surface of the bracket sleeve, so that the first wire harness can pass through the fifth wire-passing hole, the first wire-passing hole and the first wire-passing hole.
  • Two wire holes are connected to the first camera, and a second wire harness can pass through the fifth wire hole, the first wire hole and the bracket sleeve and be connected to the second camera.
  • the sensor module further includes a lidar mount detachably connected to the top plate, and a lidar mounted on the lidar mount;
  • a fifth wire-passing hole is formed on the mounting bracket, a first wire-passing hole is formed on the bottom plate, a third wire-passing hole is formed on the top plate, and the lidar mounting seat covers the third wire-passing hole
  • the lidar mounting seat is formed with a fourth wire hole that communicates with the third wire hole, so that the third wire harness can pass through the fifth wire hole, the first wire hole, The third wire hole and the fourth wire are connected to the lidar.
  • the present application also provides an unmanned vehicle, comprising a body and the above-mentioned sensor assembly, wherein the sensor module of the sensor assembly is mounted on the top of the body through the mounting bracket.
  • FIG. 1 is a perspective view of a sensor module provided by an exemplary embodiment of the present application.
  • FIG. 2 is a perspective view of a sensor module provided by an exemplary embodiment of the present application, wherein the light-transmitting side plate is not shown;
  • FIG. 3 is a top view of a sensor module provided by an exemplary embodiment of the present application.
  • FIG. 4 is a cross-sectional view of the sensor module in FIG. 3 cut along the line "A-A";
  • Fig. 5 is the enlarged view of "C" part in Fig. 4;
  • Fig. 6 is the enlarged view of "D" part in Fig. 4;
  • FIG. 7 is a cross-sectional view of the sensor module in FIG. 3 cut along the line "B-B";
  • Fig. 8 is the enlarged view of "E" part in Fig. 7;
  • Fig. 9 is the enlarged view of "F" part in Fig. 7;
  • FIG. 10 is a perspective view of a bottom plate of a sensor module provided by an exemplary embodiment of the present application.
  • FIG. 11 is a perspective view of a camera mount of a sensor module provided by an exemplary embodiment of the present application.
  • FIG. 12 is a perspective view of a sealing sleeve of a sensor module provided by an exemplary embodiment of the present application.
  • FIG. 13 is a perspective view of a lidar mount of a sensor module provided by an exemplary embodiment of the present application.
  • FIG. 14 is a perspective view of a sensor assembly provided by an exemplary embodiment of the present application.
  • FIG. 15 is a perspective view of a mounting bracket of a sensor assembly provided by an exemplary embodiment of the present application.
  • 100-sensor module 1-shell; 11-top plate; 111-first positioning protrusion; 112-third wire hole; 113-annular water blocking edge; 12-bottom plate; 121-second positioning protrusion; 122-first wire hole; 13-transparent side plate; 14-support; 141-first positioning slot; 142-second positioning slot; 143-first threaded hole; 144-second threaded hole; 15- Limit slot; 151-seal; 2-camera assembly; 21-first camera; 22-second camera; 23-camera mounting seat; 231-bracket sleeve; 2311-second wire hole; 232-first Flange; 233-Second Flange; 3-Sealing Sleeve; 31-Annular Stop Surface; 32-Third Flange; 4-Lidar Mounting Seat; 5-Lidar; 61-First bolt; 62-Second bolt; 200-Mounting bracket; 201-Fifth wire hole.
  • the directional words used such as “up, down, top and bottom” generally refer to the top, bottom, top and bottom under the driving state of the unmanned vehicle, specifically, The direction pointing to the roof of the vehicle is top or top, and the direction pointing to the chassis of the vehicle is bottom or bottom; "height direction, horizontal direction” usually refers to the height direction and horizontal direction when the unmanned vehicle is running, specifically, the upper and lower direction of the vehicle.
  • the direction is the height direction
  • the direction in which the vehicle is parallel to the ground is the horizontal direction, as shown in Figure 1 for details.
  • “Inside and outside” are the inside and outside of the contour of the associated component.
  • the present application provides a sensor module 100 for installation on an unmanned vehicle.
  • the sensor module 100 includes a housing 1 and a camera assembly 2 , and the housing 1 includes a top plate 11 , the bottom plate 12, the light-transmitting side plate 13 and the support member 14, the top plate 11 and the bottom plate 12 are arranged oppositely, the light-transmitting side plate 13 is located between the top plate 11 and the bottom plate 12, and the support member 14 extends between the top plate 11 and the bottom plate 12, supporting Both ends of the component 14 are detachably connected to the top plate 11 and the bottom plate 12 respectively, the light-transmitting side plate 13 is clamped between the top plate 11 and the bottom plate 12, and the top plate 11, the bottom plate 12 and the light-transmitting side plate 13 are jointly enclosed for accommodating The accommodating space of the camera assembly 2.
  • the supporting member 14 , the light-transmitting side plate 13 and the camera assembly 2 can be placed at the corresponding positions between the top plate 11 and the bottom plate 12 first, so that the two ends of the supporting member 14 are respectively in contact with the The top plate 11 and the bottom plate 12, the camera assembly 2 is placed between the top plate 11 and the bottom plate 12 and inside the light-transmitting side plate 13, that is, the camera assembly 2 is placed on the top plate 11, the bottom plate 12 and the light-transmitting side plate 13. Then, the two ends of the support member 14 are connected to the top plate 11 and the bottom plate 12 respectively.
  • the relative displacement between the top plate 11 and the bottom plate 12 is limited, so that the clamping and The light-transmitting side plate 13 located between the top plate 11 and the bottom plate 12 is fixed to complete the installation of the above-mentioned sensor module 100 .
  • both ends of the support member 14 are detachably connected to the top plate 11 and the bottom plate 12 respectively, the operator can release the support member 14 from the top plate 11 .
  • the connection with the bottom plate 12 enables relative movement between the top plate 11 and the bottom plate 12, thereby releasing the clamping effect of the top plate 11 and the bottom plate 12 on the light-transmitting side plate 13, so that the operator can locate the camera assembly inside the casing 1. 2 for repair and replacement.
  • the connection relationship between the support member 14 and the top plate 11 and the bottom plate 12 can be released by disassembling the support member 14, and the clamping member 14 can be clamped on the top plate 11.
  • the light-transmitting side plate 13 is removed from the bottom plate 12, so as to realize the disassembly of the casing 1 that is located outside the camera assembly 2, so as to facilitate the maintenance and replacement of the camera assembly 2 located inside the casing 1.
  • the casing The disassembly process of 1 is simple and convenient, and it is convenient for the operator to disassemble the casing 1 .
  • the housing 1 and the camera assembly 2 inside the housing 1 will not be damaged during the disassembly and installation of the housing 1.
  • the operator can remove the light-transmitting side panel 13, the top panel 11.
  • the floor and the support 14 are reassembled, and the shell 1 can continue to be used, effectively reducing the maintenance cost.
  • the support member 14 extends between the top plate 11 and the bottom plate 12, and both ends of the support member 14 are connected to the top plate 11 and the bottom plate 12, the support member 14 can not only play the role of connecting the top plate 11 and the bottom plate 12, but also To support the top plate 11 and the bottom plate 12, improve the structural strength of the top plate 11 and the bottom plate 12, prevent the top plate 11 and the bottom plate 12 from concave deformation under the action of external force, so as to better protect the camera assembly 2 located between the top plate 11 and the bottom plate 12. .
  • the support members 14 may be formed with any suitable structure and shape, for example, the support members 14 may be columnar structures, or rib structures. As an embodiment, the support member 14 can be formed into a columnar structure. Since the force of the columnar structure is more uniform, the support member 14 can bear a large external force when the top plate 11 is acted by an external force, thereby supporting the top plate 11 and protecting the top plate 11 in the casing. 1 Internal camera assembly 2. Meanwhile, the support member 14 is formed into a columnar structure, which can reduce the occupation of the inner space of the housing 1 and avoid interference with the camera assembly 2 , thereby reducing the overall volume of the sensor module 100 . In other embodiments, the support member 14 may also be an "I"-shaped rib structure.
  • the number of support members 14 may be one or more.
  • the support members 14 may be provided in multiples, and the plurality of support members 14 may be arranged along the top plate. 11 and the bottom plate 12 are evenly arranged in the circumferential direction, so that the external force acting on the top plate 11 can be evenly distributed on a plurality of supports 14 evenly arranged in the circumferential direction.
  • the present application does not limit the number and installation positions of the support members 14 .
  • baffles may be formed on the top plate 11 and the bottom plate 12 respectively, the baffles abut against the outer walls of the light-transmitting side plates 13 , so as to limit the movement of the light-transmitting baffles in the horizontal direction.
  • a sealing member 151 may be provided between the baffle plate and the light-transmitting side plate 13 to improve the waterproof performance of the housing 1 .
  • limiting grooves 15 may be formed on the bottom plate 12 and the top plate 11 respectively, and both ends of the light-transmitting side plate 13 are clamped in the limiting grooves 15 , and A sealing member 151 is disposed between the light-transmitting side plate 13 and the limiting groove 15 .
  • the limiting groove 15 can abut with the inner wall and the outer wall of the light-transmitting side plate 13 at the same time, thereby jointly limiting the displacement of the light-transmitting side plate 13 in the horizontal direction,
  • the top plate 11 and the bottom plate 12 can better hold the light-transmitting side plate 13, and the light-transmitting side plate 13 is not easily shaken or displaced when the light-transmitting side plate 13 is subjected to an external force.
  • the sealing member 151 disposed in the limiting groove 15 can prevent the liquid outside the casing 1 from entering the interior of the casing 1 from the gap between the light-transmitting side plate 13 and the limiting groove 15 , thereby damaging the inside of the casing 1 .
  • the internal camera assembly 2, and the sealing member 151 is also limited by the limiting groove 15, which can prevent the casing 1 from seeping water due to the movement of the sealing member 151, and the sealing effect is more stable.
  • the sealing member 151 may be a waterproof sealing gasket such as a rubber gasket or the like.
  • the support member 14 can be detachably connected to the top plate 11 and the bottom plate 12 in various ways, such as screw connection or snap connection. In an exemplary embodiment provided by the present application, both ends of the support member 14 are fastened together with the top plate 11 and the bottom plate 12 by bolts, and the two ends of the support member 14 are connected with the top plate 11 and the bottom plate 12.
  • the two ends of the support member 14 may also be respectively formed with a first positioning groove 141 and a second positioning groove 142
  • the top plate 11 is formed with a first positioning protrusion 111 that is engaged with the first positioning groove 141
  • the bottom plate 12 is formed with a second positioning protrusion 121 that is engaged with the second positioning groove 142
  • both ends of the support 14 A first threaded hole 143 and a second threaded hole 144 are respectively formed, the first threaded hole 143 communicates with the first positioning groove 141, the second threaded hole 144 communicates with the second positioning groove 142, and the first bolt 61 passes through the top plate 11 and The second bolts 62 pass through the bottom plate 12 and are threadedly connected to the second threaded holes 144 .
  • the first positioning protrusion 111 of the top plate 11 can be clamped into the first positioning groove 141 of the support member 14
  • the second positioning protrusion 121 of the bottom plate 12 can be clamped in the support member 14 .
  • the installation and positioning of the support 14 is realized, and then the first bolt 61 is passed through the top plate 11 and is threadedly connected with the first threaded hole 143, and the second bolt 62 is passed through the bottom plate 12 and is connected with the second thread.
  • the holes 144 are screwed together.
  • the displacement of the support 14 in the horizontal direction is limited, and it is easy for the first bolt 61 and the second bolt 62 to fasten the support. 14 and the top plate 11 and the bottom plate 12, to avoid problems such as dislocation of the first bolt 61 and the second bolt 62 caused by the displacement of the support 14 during the installation process, which is convenient for the operator to install.
  • the cross-sections of the first positioning protrusions 111 and the second positioning protrusions 121 can be formed as circles or polygons, and correspondingly, the cross-sections of the first positioning grooves 141 and the second positioning grooves 142 can also be formed as circles shape or polygon.
  • the cross sections of the first positioning protrusion 111 and the second positioning protrusion 121 may be formed into a square (eg, a square or a rectangle), and the cross sections of the first positioning groove 141 and the second positioning groove 142 Also formed into a square.
  • the camera assembly 2 may include a plurality of first cameras 21 and a plurality of second cameras 22 . They are arranged at intervals in the circumferential direction, and the plurality of first cameras 21 and the plurality of second cameras 22 are arranged at intervals in the height direction of the sensor module 100 . That is to say, the interior of the casing 1 can be divided into spaced first layers and second layers along the height direction, the second layer is located above the first layer, and a plurality of first cameras 21 are installed in the first layer inside the casing 1 .
  • a plurality of second cameras 22 are installed on the second layer inside the casing 1, this way of stacking the plurality of first cameras 21 and the plurality of second cameras 22 in the height direction can reduce the horizontal direction of the casing 1 It reduces the size of the camera assembly 2 in the horizontal direction, reduces the installation space required for the sensor module 100 to be installed on the unmanned vehicle, and is more convenient for the sensor module 100 to be installed on the unmanned vehicle.
  • the range of installation angles that can be selected for the first camera 21 and the second camera 22 is wider, which is different from that of the first camera 21 and the second camera 22.
  • the positional interference of the first camera 21 and the second camera 22 which require the same installation angle can be avoided, which is more conducive to realizing the functions of the first camera 21 and the second camera 22 .
  • the first cameras 21 and the plurality of second cameras 22 are spaced apart in the height direction of the sensor module 100 .
  • the first cameras 21 can be connected to the base plate 12 .
  • the second camera 22 can be connected to the top plate 11 , so that a plurality of first cameras 21 and a plurality of second cameras 22 are arranged at intervals in the height direction of the sensor module 100 .
  • a camera mounting bracket 200 may be mounted on the bottom plate 12 or the top plate 11 , and the first camera 21 and the second camera 22 are connected to the camera mounting bracket 200 .
  • the camera mounting bracket 200 may be formed in a T shape, an L shape, a Z shape, or the like.
  • the camera assembly 2 may further include a camera mount 23 , and the camera mount 23 includes a bracket sleeve 231 extending in the height direction, and respectively A first flange 232 and a second flange 233 are formed on both ends of the bracket sleeve 231 , the first flange 232 is connected to the base plate 12 , and a plurality of first cameras 21 are mounted on the base plate 12 and are located outside the bracket sleeve 231 , the plurality of second cameras 22 are mounted on the second flange 233 .
  • the first flange 232 can facilitate the fastening between the bracket sleeve 231 and the bottom plate 12 through fasteners, and the second flange 233 can support a plurality of second cameras 22 and facilitate the plurality of second cameras 22 and the bracket sleeve. 231 is fastened by fasteners.
  • the first camera 21 and the second camera 22 and the controller of the unmanned vehicle usually need to be connected through a wire harness, so as to transmit the external information taken by the first camera 21 and the second camera 22 to the controller as an unmanned vehicle.
  • the bracket sleeve 231 has Both ends can be open, a first wire hole 122 can be formed on the bottom plate 12, the open end of the bracket sleeve 231 close to the bottom plate 12 is communicated with the first wire hole 122, and a second wire hole 122 is formed on the peripheral surface of the bracket sleeve 231.
  • the barrel 231 is connected to the second camera 22 .
  • the bracket sleeve 231 can not only support and fix the second camera 22 , but also collect and guide the first wire harness and the second wire harness.
  • the first wire harness can be connected to the first camera 21 through the first wire hole 122 and the second wire hole 2311, and the second wire harness can be connected to the second camera 22 through the first wire hole 122 and the bracket sleeve 231, Both the first wire harness and the second wire harness are assembled through the bracket sleeve 231 to prevent the wire harness from being entangled inside the housing 1 .
  • the sensor module 100 may further include a sealing sleeve 3 with both ends open.
  • the sealing sleeve 3 at least partially passes through the first wire hole 122 and extends into the bracket sleeve 231, the sealing sleeve 3 is used for the wire harness to pass through, and the interior of the sealing sleeve 3 is used to fill the sealant to seal
  • the gap between the wire harness and the sealing sleeve 3, one end of the sealing sleeve 3 inside the bracket sleeve 231 is folded inward to form an annular stop surface 31, which is used to stop the sealant from overflowing.
  • the wire harness is passed through the sealing sleeve 3.
  • the sealing sleeve 3 By filling the sealing sleeve 3 with sealant, the inner space of the housing 1 can be isolated from the outer space of the housing 1, thereby preventing liquid from entering from the gap between the wire harnesses.
  • the annular stop surface 31 formed by turning inwards on the sealing sleeve 3 can also constrain the wire harnesses and reduce the gap between the wire harnesses, thereby better sealing.
  • the wire harness mentioned above may include the first wire harness and the second wire harness mentioned above, but is not limited to only include the first wire harness and the second wire harness.
  • the above-mentioned wiring harness may further include a third wiring harness connected to the lidar 5 .
  • the sealant filled in the sealing sleeve 3 may be sealing foam, or may be other sealants capable of sealing.
  • the above-mentioned sealing sleeve 3 can be detachably connected with the bottom plate 12 to facilitate the disassembly and assembly of the sealing sleeve 3 .
  • a third flange 32 may be formed at one end of the sealing sleeve 3 .
  • the third flange 32 is located at the bottom of the bottom plate 12 and is fixed to the bottom plate 12 by bolting.
  • first camera 21 and the second camera 22 may be any cameras required for the driving of the unmanned vehicle.
  • the plurality of first cameras 21 may be cameras for detecting traffic lights during the driving of the unmanned vehicle.
  • the second camera 22 may be a camera for detecting obstacles in four directions of the front, rear, left and right directions of the unmanned vehicle, respectively.
  • the sensor module 100 may further include a lidar mount 4 detachably connected to the top plate 11 , and a lidar 5 mounted on the lidar mount 4 , a first wire hole 122 is formed on the bottom plate 12, a third wire hole 112 is formed on the top plate 11, the lidar mount 4 covers the third wire hole 112, and the lidar mount 4 is formed with a third wire pass.
  • the fourth wire hole 41 communicated with the wire hole 112, so that the third wire harness can pass through the first wire hole 122, the third wire hole 112 and the fourth wire hole 41 and be connected with the lidar 5, so as to facilitate the transmission to the laser radar 5.
  • the sensors of the driverless vehicle transmit the information acquired by the lidar 5 .
  • the lidar 5 is detachably mounted on the top plate 11 through the lidar mount 4 , which can facilitate maintenance and replacement of the lidar 5 .
  • the lidar mount 4 covers the third wire hole 112 , on the one hand, a large amount of liquid can be prevented from directly flowing into the casing 1 from the third wire hole 112 , causing damage to the first camera 21 and the second camera 22 , and on the other hand
  • the interior of the housing 1 can be covered to improve the aesthetics of the sensor module 100 .
  • both ends of the bracket sleeve 231 are open, and the third wire harness can pass through the first wire hole 122, the bracket sleeve 231, the third wire hole 112, the fourth wire
  • the wire hole 41 is connected to the lidar 5 .
  • One side of the wire hole 112 is recessed toward the direction away from the third wire hole 112 and forms an escape groove 42 , and the edge of the third wire hole 112 extends toward the lidar mounting seat 4 and forms an annular water blocking edge 113 .
  • the annular water blocking edge 113 is accommodated in the avoidance groove 42, and there is a gap for the wire harness to pass through between the top end of the annular water retaining edge 113 and the top wall of the avoidance groove 42, and the projection of the fourth wire hole 41 on the annular water retaining edge 113 At least partially coincides with the annular water retaining rim 113 .
  • the projection of the fourth wire hole 41 on the annular water retaining edge 113 may completely coincide with the annular water retaining edge 113, or may partially coincide with the annular water retaining edge 113, that is, the annular water retaining edge 113 is at a height
  • the dimension in the direction may be equal to or larger than the maximum dimension of the fourth wire passage hole 41 in the height direction, or slightly lower than the maximum dimension of the fourth wire passage hole 41 in the height direction.
  • the annular water blocking edge 113 can not prevent the third wire harness from passing through the third wire passage hole 112 and the fourth wire passage hole 41, It can also prevent liquid from entering into the third wire passage hole 112 from the fourth wire passage hole 41 .
  • a sensor assembly is also provided, the sensor assembly includes the above-mentioned sensor module 100 and a mounting bracket 200 , and the mounting bracket 200 is used to mount the sensor
  • the module 100 is installed on the roof of the unmanned vehicle.
  • the mounting bracket 200 can facilitate the connection of the sensor assembly to the roof of the vehicle body on the one hand, and on the other hand, can increase the height of the sensor module 100 to prevent the camera assembly 2 from being blocked by other structures on the roof of the vehicle body, Affects the detection effect of camera assembly 2 on obstacles, etc.
  • Mounting bracket 200 may have any suitable shape and configuration.
  • the mounting bracket 200 may be formed into a U-shaped structure with an opening facing the top of the vehicle body, so as to increase the height of the sensor module 100 .
  • the mounting bracket 200 may also be formed in an "I" shape, a T shape, a Z shape, or the like.
  • the camera assembly 2 includes a plurality of first cameras 21 and a plurality of second cameras 22,
  • a fifth wire hole 201 may be formed on the installation bracket 200, so that the first wire harness can pass through the fifth wire hole 201, The first wire hole 122 and the second wire hole 2311 are connected to the first camera 21, and the second wire harness can pass through the fifth wire hole 201, the first wire hole 122 and the bracket sleeve 231 and be connected to the The second camera 22 is connected.
  • the first wiring harness and the second wiring harness inside the housing 1 of the sensor module 100 can extend out of the housing 1 from the first wiring hole 122 , and pass through the fifth wiring hole 201 , so as to be connected to the body part. sensor connections of driverless vehicles.
  • the third wire harness connected to the lidar 5 can pass through the fifth wire hole 201 , the first wire hole 122 , and the third wire
  • the hole 112 and the fourth wire hole 41 are connected to the lidar 5 .
  • the present application further provides an unmanned vehicle, including the above-mentioned sensor module 100 .
  • the present application further provides an unmanned vehicle, comprising a body and the above-mentioned sensor assembly, and the sensor module 100 of the sensor assembly is mounted on the top of the body through a mounting bracket 200 .
  • the above-mentioned unmanned vehicle refers to a vehicle that realizes unmanned driving by relying on an intelligent driver mainly based on a computer system in the vehicle.
  • the unmanned vehicle may be, for example, an unmanned delivery vehicle for delivering goods in a logistics system, or an unmanned delivery vehicle for delivering food, or for transferring goods between multiple shelves of unmanned transport vehicles, etc. This application does not limit the specific type of the unmanned vehicle.

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Abstract

一种传感器模组、总成及无人驾驶车辆，传感器模组（100）包括壳体（1）和摄像头组件（2），壳体（1）包括顶板（11）、底板（12）、透光侧板（13）和支撑件（14），顶板（11）和底板（12）相对设置，透光侧板（13）位于顶板（11）和底板（12）之间，支撑件（14）在顶板（11）和底板（12）之间延伸，支撑件（14）的两端分别可拆卸地连接于顶板（11）和底板（12），透光侧板（13）夹持在顶板（11）和底板（12）之间，顶板（11）、底板（12）以及透光侧板（13）共同围成用于容纳摄像头组件（2）的容纳空间。该传感器模组（100）的壳体（1）便于拆卸和组装，可以方便快捷地对位于壳体（1）内部的摄像头组件（2）进行维修。

Description

传感器模组、总成及无人驾驶车辆
本申请要求在2020年12月29日提交中国专利局的申请号为202011595424.9，发明名称为“传感器总成及无人驾驶车辆”以及申请号为202023255532.X，实用新型名称为“传感器模组及无人驾驶车辆”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及传感器领域，具体地，涉及一种传感器模组、总成及无人驾驶车辆。
背景技术
随着科技的进步，无人驾驶车辆已经成为了未来车辆发展的一个重要方向，凭借着无需人工进行驾驶所带来的安全性，无人驾驶车辆可以广泛得应用到运输行业和高危作业领域。
无人驾驶车辆的工作过程需要通过车载传感器采集周围环境的信息，从而自动规划和控制其行驶路线，也就是说，车载传感器相当于无人驾驶车辆的眼睛，对无人驾驶车辆的性能和安全起到至关重要的作用，因此在车载传感器出现故障时，需要及时对其进行调整和维修。而在现有技术中，罩设在传感器外的壳体通常是由多块钣金件焊接或粘接而成的，拆卸起来十分困难，不便于操作人员对壳体内部的传感器进行维修和更换，并且拆卸过程中壳体会受到损坏，增加了传感器的维修成本。
发明内容
本申请的目的是提供一种传感器模组、总成及无人驾驶车辆，以至少解决现有技术中存在的上述问题。
为了实现上述目的，本申请提供了一种传感器模组，用于安装在无人驾驶车辆上，该传感器模组包括壳体和摄像头组件，所述壳体包括顶板、底板、透光侧板和支撑件，所述顶板和底板相对设置，所述透光侧板位于所述顶板和底板之间，所述支撑件在所述顶板和底板之间延伸，所述支撑件的两端分别可拆卸地连接于所述顶板和所述底板，所述透光侧板夹持在所述顶板和所 述底板之间，所述顶板、所述底板以及所述透光侧板共同围成用于容纳所述摄像头组件的容纳空间。
可选地，所述底板和所述顶板上分别形成有限位槽，所述透光侧板的两端卡接在所述限位槽内，且所述透光侧板与所述限位槽之间设置有密封件。
可选地，所述支撑件的两端还分别形成有第一定位槽和第二定位槽，所述顶板上形成有与所述第一定位槽卡接的第一定位凸起，所述底板上形成有与所述第二定位槽卡接的第二定位凸起，所述支撑件的两端分别形成有第一螺纹孔和第二螺纹孔，所述第一螺纹孔与所述第一定位槽连通，所述第二螺纹孔与所述第二定位槽连通，第一螺栓穿过所述顶板并与所述第一螺纹孔螺纹连接，第二螺栓穿过所述底板并与所述第二螺纹孔螺纹连接。
可选地，所述摄像头组件包括多个第一摄像头和多个第二摄像头，所述多个第一摄像头和所述多个第二摄像头均沿所述透光侧板的周向间隔布置，且所述多个第一摄像头与所述多个第二摄像头在所述传感器模组的高度方向间隔设置。
可选地，所述摄像头组件还包括摄像头安装座，所述摄像头安装座包括沿所述高度方向延伸的支架套筒、以及分别形成在所述支架套筒的两端的第一法兰和第二法兰，所述第一法兰连接于所述底板，多个所述第一摄像头安装在所述底板上并位于所述支架套筒的外侧，多个所述第二摄像头安装在所述第二法兰上。
可选地，所述支架套筒的两端均开放，所述底板上形成有第一过线孔，所述支架套筒靠近所述底板的开放端与所述第一过线孔连通，所述支架套筒的周面上形成有第二过线孔，以使第一线束能够穿过所述第一过线孔和第二过线孔并与所述第一摄像头连接，且第二线束能够穿过所述第一过线孔和所述支架套筒并与所述第二摄像头连接。
可选地，所述传感器模组还包括两端均开放的密封套筒，所述密封套筒至少部分地穿过所述第一过线孔并伸入所述支架套筒内，所述密封套筒用于供线束穿过，且所述密封套筒内部用于填充密封胶，以密封所述线束与所述密封套筒之间的间隙，所述密封套筒位于所述支架套筒内部的一端向内翻折并形成环形止挡面，所述环形止挡面用于止挡所述密封胶溢出。
可选地，所述传感器模组还包括可拆卸地连接于所述顶板的激光雷达安装座、以及安装在所述激光雷达安装座上的激光雷达，所述底板上形成有第一过线孔，所述顶板上形成有第三过线孔，所述激光雷达安装座遮盖所述第 三过线孔，所述激光雷达安装座上形成有与所述第三过线孔连通的第四过线孔，以使第三线束能够穿过所述第一过线孔、所述第三过线孔以及所述第四过线孔并与所述激光雷达连接。
可选地，所述激光雷达安装座靠近所述第三过线孔的一侧朝向背离所述第三过线孔的方向凹陷并形成避让槽，所述第三过线孔的边缘朝向所述激光雷达安装座延伸并形成环形挡水缘，所述环形挡水缘容纳在所述避让槽内，且所述环形挡水缘的顶端与所述避让槽的顶壁之间具有用于供所述第三线束穿过的间隙，所述第四过线孔在所述环形挡水缘上的投影至少部分地与所述环形挡水缘重合。
通过上述技术方案，由于支撑件两端与顶板和底板之间可拆卸地连接，可以通过拆卸支撑件解除其与顶板和底板之间的连接关系，将夹持在顶板和底板之间透光侧板拆卸下来，从而可以实现对罩设在摄像头组件外部的壳体的拆卸，以便于对位于壳体内部的摄像头组件进行维修和更换，壳体的拆卸过程简单方便，便于操作人员拆卸壳体。并且，在对壳体的拆卸和安装过程中不会损坏壳体和壳体内部的摄像头组件，在完成传感器模组的维修之后，操作人员可以将透光侧板、顶板、地板与支撑件重新组装，壳体可以继续使用，有效地降低了维修成本。在传感器模组安装到车身顶部时，安装支架一方面可以便于传感器总成与车身顶连接，另一方面可以提高传感器模组的高度，避免摄像头组件被车身顶部的其他结构遮挡，影响摄像头组件对障碍物等的检测效果。
本申请还提供了一种传感器总成，包括安装支架和上述的传感器模组，所述安装支架用于将所述传感器模组安装在无人驾驶车辆的车身顶部。所述传感器模组包括壳体和摄像头组件，所述壳体包括顶板、底板、透光侧板和支撑件，所述顶板和底板相对设置，所述透光侧板位于所述顶板和底板之间，所述支撑件在所述顶板和底板之间延伸，所述支撑件的两端分别可拆卸地连接于所述顶板和所述底板，所述透光侧板夹持在所述顶板和所述底板之间，所述顶板、所述底板以及所述透光侧板共同围成用于容纳所述摄像头组件的容纳空间。
可选地，所述摄像头组件包括多个第一摄像头和多个第二摄像头，所述多个第一摄像头和所述多个第二摄像头均沿所述透光侧板的周向间隔布置，且所述多个第一摄像头与所述多个第二摄像头在所述传感器模组的高度方向间隔设置。所述摄像头组件还包括摄像头安装座，所述摄像头安装座包括 沿所述高度方向延伸的支架套筒、以及分别形成在所述支架套筒的两端的第一法兰和第二法兰，所述第一法兰连接于所述底板，多个所述第一摄像头安装在所述底板上并位于所述支架套筒的外侧，多个所述第二摄像头安装在所述第二法兰上。
所述安装支架上形成有第五过线孔，所述支架套筒的两端均开放，所述底板上形成有第一过线孔，所述支架套筒靠近所述底板的开放端与所述第一过线孔连通，所述支架套筒的周面上形成有第二过线孔，以使第一线束能够穿过所述第五过线孔、所述第一过线孔和第二过线孔并与所述第一摄像头连接，且第二线束能够穿过所述第五过线孔、所述第一过线孔和所述支架套筒并与所述第二摄像头连接。
可选地，所述传感器模组还包括可拆卸地连接于所述顶板的激光雷达安装座、以及安装在所述激光雷达安装座上的激光雷达；
所述安装支架上形成有第五过线孔，所述底板上形成有第一过线孔，所述顶板上形成有第三过线孔，所述激光雷达安装座遮盖所述第三过线孔，所述激光雷达安装座上形成有与所述第三过线孔连通的第四过线孔，以使第三线束穿过所述第五过线孔、所述第一过线孔、所述第三过线孔以及所述第四过线并与所述激光雷达连接。
本申请还提供了一种无人驾驶车辆，包括车身和上述的传感器总成，所述传感器总成的所述传感器模组通过所述安装支架安装在车身顶部。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本申请的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本申请，但并不构成对本申请的限制。在附图中：
图1是本申请一种示例性实施方式提供的传感器模组的立体图；
图2是本申请一种示例性实施方式提供的传感器模组的立体图，其中，未示出透光侧板；
图3是本申请一种示例性实施方式提供的传感器模组的俯视图；
图4是图3中的传感器模组沿“A-A”线进行剖切的截面图；
图5是图4中“C”部分的放大图；
图6是图4中“D”部分的放大图；
图7是图3中的传感器模组沿“B-B”线进行剖切的截面图；
图8是图7中“E”部分的放大图；
图9是图7中“F”部分的放大图；
图10是本申请一种示例性实施方式提供的传感器模组的底板的立体图；
图11是本申请一种示例性实施方式提供的传感器模组的摄像头安装座的立体图；
图12是本申请一种示例性实施方式提供的传感器模组的密封套筒的立体图；
图13是本申请一种示例性实施方式提供的传感器模组的激光雷达安装座的立体图；
图14是本申请一种示例性实施方式提供的传感器总成的立体图；
图15是本申请一种示例性实施方式提供的传感器总成的安装支架的立体图。
附图标记说明
100-传感器模组；1-壳体；11-顶板；111-第一定位凸起；112-第三过线孔；113-环形挡水缘；12-底板；121-第二定位凸起；122-第一过线孔；13-透光侧板；14-支撑件；141-第一定位槽；142-第二定位槽；143-第一螺纹孔；144-第二螺纹孔；15-限位槽；151-密封件；2-摄像头组件；21-第一摄像头；22-第二摄像头；23-摄像头安装座；231-支架套筒；2311-第二过线孔；232-第一法兰；233-第二法兰；3-密封套筒；31-环形止挡面；32-第三法兰；4-激光雷达安装座；41-第四过线孔；42-避让槽；5-激光雷达；61-第一螺栓；62-第二螺栓；200-安装支架；201-第五过线孔。
具体实施例
以下结合附图对本申请的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请，并不用于限制本申请。
在本申请中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是指无人驾驶车辆行驶状态下的上、下、顶、底，具体地，指向车辆顶棚的方向为顶或上，指向车辆底盘的方向为底或下；“高度方向、水平方向”通常是指无人驾驶车辆行驶状态下的高度方向、水平方向，具体地， 车辆的上下方向为高度方向，车辆与地面平行的方向为水平方向，具体可参照图1所示。“内、外”是相关零部件轮廓的内、外。
如图1至图13所示，本申请提供了一种传感器模组100，用于安装在无人驾驶车辆上，该传感器模组100包括壳体1和摄像头组件2，壳体1包括顶板11、底板12、透光侧板13和支撑件14，顶板11和底板12相对设置，透光侧板13位于顶板11和底板12之间，支撑件14在顶板11和底板12之间延伸，支撑件14的两端分别可拆卸地连接于顶板11和底板12，透光侧板13夹持在顶板11和底板12之间，顶板11、底板12以及透光侧板13共同围成用于容纳摄像头组件2的容纳空间。
在对上述传感器模组100进行组装时，可以先将支撑件14、透光侧板13和摄像头组件2放置在顶板11和底板12之间的相应位置，使得支撑件14的两端分别接触于顶板11和底板12，摄像头组件2放置在顶板11和底板12之间并位于透光侧板13的内部，也就是说，摄像头组件2放置在顶板11、底板12以及透光侧板13共同围成的容纳空间中，然后将支撑件14的两端分别与顶板11和底板12连接，在支撑件14的连接作用下，顶板11和底板12之间的相对位移受到限制，从而能够夹持并固定位于顶板11和底板12之间的透光侧板13，完成对于上述传感器模组100的安装。
而在需要对上述传感器模组100进行拆卸或者需要对摄像头组件2进行维修时，由于支撑件14的两端分别可拆卸地连接于顶板11和底板12，操作人员可以解除支撑件14对于顶板11和底板12的连接作用，使得顶板11和底板12之间可以相对移动，从而解除顶板11和底板12对于透光侧板13的夹持作用，使得操作人员可以对位于壳体1内部的摄像头组件2进行维修和更换。
通过上述技术方案，由于支撑件14两端与顶板11和底板12之间可拆卸地连接，可以通过拆卸支撑件14解除其与顶板11和底板12之间的连接关系，将夹持在顶板11和底板12之间透光侧板13拆卸下来，从而可以实现对罩设在摄像头组件2外部的壳体1的拆卸，以便于对位于壳体1内部的摄像头组件2进行维修和更换，壳体1的拆卸过程简单方便，便于操作人员拆卸壳体1。并且，在对壳体1的拆卸和安装过程中不会损坏壳体1和壳体1内部的摄像头组件2，在完成传感器模组100的维修之后，操作人员可以将透光侧板13、顶板11、地板与支撑件14重新组装，壳体1可以继续使用，有效地降低了维修成本。
此外，由于支撑件14在顶板11和底板12之间延伸，且支撑件14的两端连接于顶板11和底板12，支撑件14除了起到连接顶板11和底板12的作用外，还能够起到支撑顶板11和底板12的作用，提高顶板11和底板12的结构强度，避免顶板11和底板12在外力作用下凹陷变形，从而更好地保护位于顶板11和底板12之间的摄像头组件2。
支撑件14可以形成具有任意适当的结构和形状，例如，支撑件14可以为柱状结构，或者肋板结构。作为一种实施方式，该支撑件14可以形成为柱状结构，由于柱状结构受力更加均匀，在顶板11受到外力作用时支撑件14能够承受较大的外力，从而支撑顶板11并保护位于壳体1内部的摄像头组件2。同时，支撑件14形成为柱状结构能够减少对壳体1内部空间的占用，避免与摄像头组件2产生干涉，从而减小传感器模组100的整体体积。在其他实施方式中，支撑件14也可以为“工”字形的肋板结构。
可选地，支撑件14的数量可以为一个也可以为多个。为了进一步提高支撑件14对于顶板11的支撑作用，使得顶板11能够承担更大的外力作用，在一种示例性实施方式中，支撑件14可以设置为多个，多个支撑件14可以沿顶板11和底板12的周向均匀排列，这样，作用在顶板11上的外力能够平均分散在多个周向均匀排列的支撑件14上，单个支撑件14承受的外力较小，支撑作用越好。这里，本申请对于支撑件14的数量和安装位置不做限制。
由于透明侧板夹持在顶板11和底板12之间，顶板11和底板12限制透明侧板在竖直方向上的位移，为了进一步限制透光侧板13在水平方向上的移动，作为一种示例性实施方式，顶板11和底板12上可以分别形成有挡板，该挡板与透光侧板13的外壁抵接，从而限制透光挡板在水平方向上的移动。可选地，在该实施方式中，挡板与透光侧板13之间可以设置有密封件151，以提高壳体1的防水性能。
如图4至图6所示，作为另一种示例性实施方式，底板12和顶板11上可以分别形成有限位槽15，透光侧板13的两端卡接在限位槽15内，且透光侧板13与限位槽15之间设置有密封件151。当透光侧板13卡接在限位槽15内时，限位槽15能够同时与透光侧板13的内壁和外壁抵接，从而共同限制透光侧板13在水平方向上的位移，使得顶板11和底板12对透光侧板13起到更好的夹持作用，在透光侧板13受到外力作用时，也不易发生晃动或者移位。此外，设置在限位槽15中的密封件151能够防止壳体1外部的液 体从透光侧板13与限位槽15之间的缝隙中进入壳体1的内部，损坏容纳在壳体1内部的摄像头组件2，并且该密封件151也受到限位槽15的限位作用，可以避免密封件151移动造成壳体1渗水，密封效果更加稳定。这里，密封件151可以使防水密封垫片，例如橡胶垫圈等。
支撑件14可以通过多种方式可拆卸地连接于顶板11和底板12，例如螺纹连接，或者卡接。在本申请提供的一种示例性实施方式中，支撑件14的两端与顶板11和底板12之间通过螺栓紧固在一起，在将支撑件14的两端与顶板11和底板12进行连接时，为了保证支撑件14能够快速且准确地安装在顶板11和底板12的预设安装位置，可选地，支撑件14的两端还可以分别形成有第一定位槽141和第二定位槽142，顶板11上形成有与第一定位槽141卡接的第一定位凸起111，底板12上形成有与第二定位槽142卡接的第二定位凸起121，支撑件14的两端分别形成有第一螺纹孔143和第二螺纹孔144，第一螺纹孔143与第一定位槽141连通，第二螺纹孔144与第二定位槽142连通，第一螺栓61穿过顶板11并与第一螺纹孔143螺纹连接，第二螺栓62穿过底板12并与第二螺纹孔144螺纹连接。
在安装上述支撑件14时，可以将顶板11的第一定位凸起111卡接在支撑件14的第一定位槽141内，将底板12的第二定位凸起121卡接在支撑件14的第二定位槽142内，从而实现支撑件14的安装定位，然后再将第一螺栓61穿过顶板11并与第一螺纹孔143螺纹连接、第二螺栓62穿过底板12并与第二螺纹孔144螺纹连接，在第一定位槽141和第二定位槽142的限位作用下，支撑件14在水平方向上的位移受到了限制，易于第一螺栓61和第二螺栓62紧固支撑件14与顶板11和底板12，避免在安装过程中因支撑件14的位移而造成第一螺栓61和第二螺栓62安装错位等问题发生，便于操作人员进行安装。
上述的第一定位凸起111和第二定位凸起121的横截面可以形成为圆形或者多边形，与之对应的，第一定位槽141和第二定位槽142的横截面也可以形成为圆形或者多边形。在一种示例性实施方式中，第一定位凸起111和第二定位凸起121的横截面可以形成为方形(例如正方形或矩形)，第一定位槽141和第二定位槽142的横截面也形成为方形。这样，不仅能够限制支撑件14在水平方向上的位移，还能够限制支撑体沿其轴向旋转，从而对支撑件14起到更好的定位作用，防止在旋拧第一螺栓61和第二螺栓62时，支撑件14跟随第一螺栓61和第二螺栓62一同转动而导致支撑件14无法与 顶板11和底板12紧固在一起。
如图2所示，可选地，摄像头组件2可以包括多个第一摄像头21和多个第二摄像头22，多个第一摄像头21和多个第二摄像头22均沿透光侧板13的周向间隔布置，且多个第一摄像头21与多个第二摄像头22在传感器模组100的高度方向间隔设置。也就是说，壳体1的内部沿高度方向可以分为间隔的第一层和第二层，第二层位于第一层的上方，多个第一摄像头21安装在壳体1内部的第一层，多个第二摄像头22安装在壳体1内部的第二层，这种多个第一摄像头21和多个第二摄像头22沿高度方向层叠布置的方式可以减小壳体1在水平方向上的尺寸，缩小摄像头组件2在水平方向上的体积，降低传感器模组100在安装于无人驾驶车辆上时所需要的安装空间，更加便于传感器模组100安装在无人驾驶车辆上。
同时，对于第一摄像头21和第二摄像头22的类型和功能不同的实施例而言，第一摄像头21和第二摄像头22可以选择的安装角度范围更大，与第一摄像头21和第二摄像头22布置在同一水平面上的技术方案相比，能够避免需要相同安装角度的第一摄像头21和第二摄像头22产生位置上的干涉，更加利于实现第一摄像头21和第二摄像头22的功能。
实现多个第一摄像头21与多个第二摄像头22在传感器模组100的高度方向间隔设置的方式有多种，例如，在一种示例性实施方式中，第一摄像头21可以与底板12连接，第二摄像头22可以与顶板11连接，从而实现多个第一摄像头21与多个第二摄像头22在传感器模组100的高度方向间隔设置。或者，底板12或顶板11上可以安装有摄像头安装支架200，第一摄像头21和第二摄像头22与该摄像头安装支架200连接。该摄像头安装支架200可以形成为T形、L形、Z形等。
在另一种示例性实施方式中，如图7、图8以及图11所示，摄像头组件2还可以包括摄像头安装座23，摄像头安装座23包括沿高度方向延伸的支架套筒231、以及分别形成在支架套筒231的两端的第一法兰232和第二法兰233，第一法兰232连接于底板12，多个第一摄像头21安装在底板12上并位于支架套筒231的外侧，多个第二摄像头22安装在第二法兰233上。第一法兰232可以便于支架套筒231与底板12之间通过紧固件进行紧固，第二法兰233能够支撑多个第二摄像头22并便于该多个第二摄像头22与支架套筒231通过紧固件进行紧固。
第一摄像头21和第二摄像头22与无人驾驶车辆的控制器之间通常需要 通过线束进行连接，从而将第一摄像头21和第二摄像头22采取到的外部信息传送给控制器，以作为无人驾驶车辆进行自动驾驶的依据。
为了便于线束能够连接位于壳体1内部的摄像头组件2和无人驾驶车辆的控制器，在上述设置有摄像头安装座23的实施例中，如图10和图11所示，支架套筒231的两端可以均开放，底板12上可以形成有第一过线孔122，支架套筒231靠近底板12的开放端与第一过线孔122连通，支架套筒231的周面上形成有第二过线孔2311，以使第一线束能够穿过第一过线孔122和第二过线孔2311并与第一摄像头21连接，且第二线束能够穿过第一过线孔122和支架套筒231并与第二摄像头22连接。这样，支架套筒231不仅能够对第二摄像头22起到支撑和固定的作用，还可以对第一线束和第二线束起到收集和导向的作用，由于第一摄像头21位于支架套筒231的外侧，第一线束可以穿过第一过线孔122和第二过线孔2311连接第一摄像头21，第二线束可以穿过第一过线孔122和支架套筒231连接第二摄像头22，第一线束和第二线束均通过支架套筒231进行集合，避免线束在壳体1内部发生缠绕。
在上述设置有支架套筒231的实施例中，为进一步地提高传感器模组100的防水性能，如图8至图12所示，传感器模组100还可以包括两端均开放的密封套筒3，密封套筒3至少部分地穿过第一过线孔122并伸入支架套筒231内，密封套筒3用于供线束穿过，且密封套筒3内部用于填充密封胶，以密封线束与密封套筒3之间的间隙，密封套筒3位于支架套筒231内部的一端向内翻折并形成环形止挡面31，环形止挡面31用于止挡密封胶溢出。这里，线束穿设于密封套筒3内，通过在密封套筒3内填充密封胶可以将壳体1的内部空间与壳体1的外部空间进行隔离，从而防止液体从线束之间的缝隙进入壳体1内部。由于密封套筒3位于支架套筒231的内部，且密封套筒3上形成有环形止挡面31，在填充密封胶时，可以避免密封胶从密封套筒3中溢出或者通过支架套筒231的第二过线孔2311或者支架套筒231的开放端进入壳体1内部，从而防止第一摄像头21和第二摄像头22的损坏。同时，密封套筒3上向内翻折形成的环形止挡面31还可以对线束进行约束，减小线束之间的缝隙，从而更好地起到密封作用。
需要说明的是，上文提到的线束可以包括前文中提及的第一线束和第二线束，但并不限制为只包括第一线束和第二线束，对于后文中提及的设置有激光雷达5的实施例而言，上述的线束还可以包括连接激光雷达5的第三线 束。
可选地，密封套筒3内部填充的密封胶可以为密封发泡胶，也可以为其他能够起到密封作用的密封胶。
可选地，上述密封套筒3可以与底板12可拆卸地连接，以便于密封套筒3的拆装。例如，如图8和图12所示，密封套筒3的一端可以形成有第三法兰32，该第三法兰32位于底板12的底部，并通过螺栓连接的方式与底板12进行固定。
此外，上述第一摄像头21和第二摄像头22可以是无人驾驶车辆行驶所需的任意摄像头，例如，多个第一摄像头21可以为在无人驾驶车辆行驶过程中检测交通信号灯的摄像头，多个第二摄像头22可以分别为检测无人驾驶车辆前、后、左、右四个方向的障碍物的摄像头。
如图7、图9和图13所示，可选地，传感器模组100还可以包括可拆卸地连接于顶板11的激光雷达安装座4、以及安装在激光雷达安装座4上的激光雷达5，底板12上形成有第一过线孔122，顶板11上形成有第三过线孔112，激光雷达安装座4遮盖第三过线孔112，激光雷达安装座4上形成有与第三过线孔112连通的第四过线孔41，以使第三线束能够穿过第一过线孔122、第三过线孔112以及第四过线孔41并与激光雷达5连接，从而便于向无人驾驶车辆的传感器传输激光雷达5所获取的信息。激光雷达5通过激光雷达安装座4可拆卸地安装在顶板11上，可以便于激光雷达5的维修和更换。此外，激光雷达安装座4遮盖第三过线孔112，一方面可以避免大量液体直接从第三过线孔112流入壳体1内部，造成第一摄像头21和第二摄像头22损坏，另一方面可以遮挡壳体1内部，提高传感器模组100的美观度。对于设置有支架套筒231的实施例而言，支架套筒231的两端均开放，第三线束可以穿过第一过线孔122、支架套筒231、第三过线孔112、第四过线孔41并与激光雷达5连接。
可选地，为了进一步地避免壳体1外部的液体依次通过第四过线孔41、第三过线孔112进入壳体1内部，如图9所示，激光雷达安装座4靠近第三过线孔112的一侧朝向背离第三过线孔112的方向凹陷并形成避让槽42，第三过线孔112的边缘朝向激光雷达安装座4延伸并形成环形挡水缘113，环形挡水缘113容纳在避让槽42内，且环形挡水缘113的顶端与避让槽42的顶壁之间具有用于供线束穿过的间隙，第四过线孔41在环形挡水缘113上的投影至少部分地与环形挡水缘113重合。也就是说，第四过线孔41在环 形挡水缘113上的投影可以完全与环形挡水缘113重合，也可以部分与环形挡水缘113重合，也即，环形挡水缘113在高度方向上的尺寸可以等于或大于第四过线孔41在高度方向上的最大尺寸，或者，略低于第四过线孔41在高度方向上的最大尺寸。这样，当液体通过第四过线孔41激光雷达安装座4的内部时，环形挡水缘113突出于顶板11，从从而能够止挡液体，避免液体从顶板11的第三过线孔112进入壳体1内。
由于第三线束穿过环形挡水缘113和避让槽42顶壁之间的间隙，环形挡水缘113即能不阻碍第三线束穿过第三过线孔112和第四过线孔41，又能够止挡液体从第四过线孔41进入流入第三过线孔112内。
根据本申请的另一个方面，如图1至图15所示，还提供一种传感器总成，该传感器总成包括上述的传感器模组100和安装支架200，安装支架200用于将所述传感器模组100安装在所述无人驾驶车辆的车身顶部。
在传感器模组100安装到车身顶部时，安装支架200一方面可以便于传感器总成与车身顶连接，另一方面可以提高传感器模组100的高度，避免摄像头组件2被车身顶部的其他结构遮挡，影响摄像头组件2对障碍物等的检测效果。
安装支架200可以具有任意适当的形状和结构。例如，在一种实施方式中，如图15所示，安装支架200可以形成为开口朝向车身顶部的U形结构，以将提高传感器模组100的高度。在其他实施方式中，安装支架200也可以形成为“工”字形、T形、Z形等。
对于上文提到的传感器模组100的底板12上形成有供线束穿过的第一过线孔122，且摄像头组件2包括多个第一摄像头21和多个第二摄像头22的实施例而言，为了便于第一线束和第二线束穿过安装支架200，可选地，安装支架200上可以形成有第五过线孔201，以使第一线束能够穿过第五过线孔201、第一过线孔122和第二过线孔2311并与第一摄像头21连接，且第二线束能够穿过第五过线孔201、第一过线孔122和支架套筒231并与所述第二摄像头22连接。这样，传感器模组100的壳体1内部的第一线束和第二线束可以从第一过线孔122向外伸出于壳体1，并穿过第五过线孔201，实现与车身部的无人驾驶车辆的传感器连接。
对于上文提到的传感器模组100还包括激光雷达5的实施例而言，连接激光雷达5的第三线束能够穿过第五过线孔201、第一过线孔122、第三过线孔112以及第四过线孔41并与激光雷达5连接。
根据本申请的再一个方面，本申请还提供了一种无人驾驶车辆，包括上述的传感器模组100。
根据本申请的又一个方面，本申请还提供一种无人驾驶车辆，包括车身和上述的传感器总成，传感器总成的传感器模组100通过安装支架200安装在车身顶部。
这里，需要说明的是，上述无人驾驶车辆指的是依靠车内的以计算机系统为主的智能驾驶仪来实现无人驾驶的车辆。该无人驾驶车辆可以为，例如，在物流系统中用于配送货物的无人货物配送车辆，或者，用于配送外卖的无人外卖配送车辆，或者，用于在多个货架之间转运货物的无人转运车辆等。本申请对无人驾驶车辆的具体类型不做限定。
以上结合附图详细描述了本申请的优选实施方式，但是，本申请并不限于上述实施方式中的具体细节，在本申请的技术构思范围内，可以对本申请的技术方案进行多种简单变型，这些简单变型均属于本申请的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本申请对各种可能的组合方式不再另行说明。
此外，本申请的各种不同的实施方式之间也可以进行任意组合，只要其不违背本申请的思想，其同样应当视为本申请所公开的内容。

Claims (13)

  1. 一种传感器模组(100)，用于安装在无人驾驶车辆上，其特征在于，包括壳体(1)和摄像头组件(2)，所述壳体(1)包括顶板(11)、底板(12)、透光侧板(13)和支撑件(14)，所述顶板(11)和底板(12)相对设置，所述透光侧板(13)位于所述顶板(11)和底板(12)之间，所述支撑件(14)在所述顶板(11)和底板(12)之间延伸，所述支撑件(14)的两端分别可拆卸地连接于所述顶板(11)和所述底板(12)，所述透光侧板(13)夹持在所述顶板(11)和所述底板(12)之间，所述顶板(11)、所述底板(12)以及所述透光侧板(13)共同围成用于容纳所述摄像头组件(2)的容纳空间。
  2. 根据权利要求1所述的传感器模组(100)，其特征在于，所述底板(12)和所述顶板(11)上分别形成有限位槽(15)，所述透光侧板(13)的两端卡接在所述限位槽(15)内，且所述透光侧板(13)与所述限位槽(15)之间设置有密封件(151)。
  3. 根据权利要求1所述的传感器模组(100)，其特征在于，所述支撑件(14)的两端还分别形成有第一定位槽(141)和第二定位槽(142)，所述顶板(11)上形成有与所述第一定位槽(141)卡接的第一定位凸起(111)，所述底板(12)上形成有与所述第二定位槽(142)卡接的第二定位凸起(121)，所述支撑件(14)的两端分别形成有第一螺纹孔(143)和第二螺纹孔(144)，所述第一螺纹孔(143)与所述第一定位槽(141)连通，所述第二螺纹孔(144)与所述第二定位槽(142)连通，第一螺栓(61)穿过所述顶板(11)并与所述第一螺纹孔(143)螺纹连接，第二螺栓(62)穿过所述底板(12)并与所述第二螺纹孔(144)螺纹连接。
  4. 根据权利要求1所述的传感器模组(100)，其特征在于，所述摄像头组件(2)包括多个第一摄像头(21)和多个第二摄像头(22)，所述多个第一摄像头(21)和所述多个第二摄像头(22)均沿所述透光侧板(13)的周向间隔布置，且所述多个第一摄像头(21)与所述多个第二摄像头(22)在所述传感器模组(100)的高度方向间隔设置。
  5. 根据权利要求4所述的传感器模组(100)，其特征在于，所述摄像头组件(2)还包括摄像头安装座(23)，所述摄像头安装座(23)包括沿所述高度方向延伸的支架套筒(231)、以及分别形成在所述支架套筒(231) 的两端的第一法兰(232)和第二法兰(233)，所述第一法兰(231)连接于所述底板(12)，多个所述第一摄像头(21)安装在所述底板(12)上并位于所述支架套筒(231)的外侧，多个所述第二摄像头(22)安装在所述第二法兰(233)上。
  6. 根据权利要求5所述的传感器模组(100)，其特征在于，所述支架套筒(231)的两端均开放，所述底板(12)上形成有第一过线孔(122)，所述支架套筒(231)靠近所述底板(12)的开放端与所述第一过线孔(122)连通，所述支架套筒(231)的周面上形成有第二过线孔(2311)，以使第一线束能够穿过所述第一过线孔(122)和所述第二过线孔(2311)并与所述第一摄像头(21)连接，且第二线束能够穿过所述第一过线孔(122)和所述支架套筒(231)并与所述第二摄像头(22)连接。
  7. 根据权利要求6所述的传感器模组(100)，其特征在于，所述传感器模组(100)还包括两端均开放的密封套筒(3)，所述密封套筒(3)至少部分地穿过所述第一过线孔(122)并伸入所述支架套筒(231)内，所述密封套筒(3)用于供线束穿过，且所述密封套筒(3)内部用于填充密封胶，以密封所述线束与所述密封套筒(3)之间的间隙，所述密封套筒(3)位于所述支架套筒(231)内部的一端向内翻折并形成环形止挡面(31)，所述环形止挡面(31)用于止挡所述密封胶溢出。
  8. 根据权利要求1-7中任一项所述的传感器模组(100)，其特征在于，所述传感器模组(100)还包括可拆卸地连接于所述顶板(11)的激光雷达安装座(4)、以及安装在所述激光雷达安装座(4)上的激光雷达(5)；
    所述底板(12)上形成有第一过线孔(122)，所述顶板(11)上形成有第三过线孔(112)，所述激光雷达安装座(4)遮盖所述第三过线孔(112)，所述激光雷达安装座(4)上形成有与所述第三过线孔(112)连通的第四过线孔(41)，以使第三线束穿过所述第一过线孔(122)、所述第三过线孔(112)以及所述第四过线孔(41)并与所述激光雷达(5)连接。
  9. 根据权利要求8所述的传感器模组(100)，其特征在于，所述激光雷达安装座(4)靠近所述第三过线孔(41)的一侧朝向背离所述第三过线孔(112)的方向凹陷并形成避让槽(42)，所述第三过线孔(112)的边缘朝向所述激光雷达安装座(4)延伸并形成环形挡水缘(113)，所述环形挡水缘(113)容纳在所述避让槽(42)内，且所述环形挡水缘(113)的顶端与所述避让槽(42)的顶壁之间具有用于供所述第三线束穿过的间隙，所述 第四过线孔(41)在所述环形挡水缘(113)上的投影至少部分地与所述环形挡水缘(113)重合。
  10. 一种传感器总成，其特征在于，包括安装支架(200)和权利要求1-9任一项所述的传感器模组(100)，所述安装支架(200)用于将所述传感器模组(100)安装在无人驾驶车辆的车身顶部。所述传感器模组(100)包括壳体(1)和摄像头组件(2)，所述壳体(1)包括顶板(11)、底板(12)、透光侧板(13)和支撑件(14)，所述顶板(11)和底板(12)相对设置，所述透光侧板(13)位于所述顶板(11)和底板(12)之间，所述支撑件(14)在所述顶板(11)和底板(12)之间延伸，所述支撑件(14)的两端分别可拆卸地连接于所述顶板(11)和所述底板(12)，所述透光侧板(13)夹持在所述顶板(11)和所述底板(12)之间，所述顶板(11)、所述底板(12)以及所述透光侧板(13)共同围成用于容纳所述摄像头组件(2)的容纳空间。
  11. 根据权利要求10所述的传感器总成，其特征在于，所述摄像头组件(2)包括多个第一摄像头(21)和多个第二摄像头(22)，所述多个第一摄像头(21)和所述多个第二摄像头(22)均沿所述透光侧板(13)的周向间隔布置，且所述多个第一摄像头(21)与所述多个第二摄像头(22)在所述传感器模组(100)的高度方向间隔设置。
    所述摄像头组件(2)还包括摄像头安装座(23)，所述摄像头安装座(23)包括沿所述高度方向延伸的支架套筒(231)、以及分别形成在所述支架套筒(231)的两端的第一法兰(232)和第二法兰(233)，所述第一法兰(231)连接于所述底板(12)，多个所述第一摄像头(21)安装在所述底板(12)上并位于所述支架套筒(231)的外侧，多个所述第二摄像头(22)安装在所述第二法兰(233)上。
    所述安装支架(200)上形成有第五过线孔(201)，所述支架套筒(231)的两端均开放，所述底板(12)上形成有第一过线孔(122)，所述支架套筒(231)靠近所述底板(12)的开放端与所述第一过线孔(122)连通，所述支架套筒(231)的周面上形成有第二过线孔(2311)，以使第一线束能够穿过所述第五过线孔(201)、所述第一过线孔(122)和所述第二过线孔(2311)并与所述第一摄像头(21)连接，且第二线束能够穿过所述第五过线孔(201)、所述第一过线孔(122)和所述支架套筒(231)并与所述第二摄像头(22)连接。
  12. 根据权利要求10或11所述的传感器总成，其特征在于，所述传感器模组(100)还包括可拆卸地连接于所述顶板(11)的激光雷达安装座(4)、以及安装在所述激光雷达安装座(4)上的激光雷达(5)；
    所述安装支架(200)上形成有第五过线孔(201)，所述底板(12)上形成有第一过线孔(122)，所述顶板(11)上形成有第三过线孔(112)，所述激光雷达安装座(4)遮盖所述第三过线孔(112)，所述激光雷达安装座(4)上形成有与所述第三过线孔(112)连通的第四过线孔(41)，以使第三线束穿过所述第五过线孔(201)、所述第一过线孔(122)、所述第三过线孔(112)以及所述第四过线孔(41)并与所述激光雷达(5)连接。
  13. 一种无人驾驶车辆，其特征在于，包括车身和权利要求10-12中任一项所述的传感器总成，所述传感器总成的所述传感器模组(100)通过所述安装支架(200)安装在车身顶部。
PCT/CN2021/137866 2020-12-29 2021-12-14 传感器模组、总成及无人驾驶车辆 WO2022143150A1 (zh)

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