WO2023142216A1 - Sensor integration and mounting device, and vehicle - Google Patents

Sensor integration and mounting device, and vehicle Download PDF

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Publication number
WO2023142216A1
WO2023142216A1 PCT/CN2022/078619 CN2022078619W WO2023142216A1 WO 2023142216 A1 WO2023142216 A1 WO 2023142216A1 CN 2022078619 W CN2022078619 W CN 2022078619W WO 2023142216 A1 WO2023142216 A1 WO 2023142216A1
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WIPO (PCT)
Prior art keywords
sensor
bracket
mounting plate
integrated
sensor mounting
Prior art date
Application number
PCT/CN2022/078619
Other languages
French (fr)
Chinese (zh)
Inventor
衡阳
卢红喜
周俊杰
金晨
李国庆
Original Assignee
浙江吉利控股集团有限公司
宁波吉利汽车研究开发有限公司
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Application filed by 浙江吉利控股集团有限公司, 宁波吉利汽车研究开发有限公司 filed Critical 浙江吉利控股集团有限公司
Publication of WO2023142216A1 publication Critical patent/WO2023142216A1/en

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the invention relates to the technical field of sensor devices, in particular to a sensor integrated installation device and a vehicle.
  • the object of the present invention is to provide a sensor integrated installation device and a vehicle to solve at least one of the above problems.
  • the first aspect of the present invention provides a sensor integrated installation device, including an integrated installation plate and a sensor installation bracket group;
  • the sensor bracket in the sensor mounting bracket group includes a first bracket for installing a high wire harness mechanical laser radar, a second bracket for installing a forward-looking long-range laser radar, and a third bracket for installing a side blindness supplementary radar. At least one of a bracket and a fourth bracket for installing the camera;
  • the integrated installation board includes at least two connection ends, and the sensor brackets in the sensor installation bracket group are detachably fixed on the integrated installation board through the connection ends;
  • the first bracket includes a horizontal adjustment part, and the horizontal condition part is used to adjust the position of the sensor along the horizontal direction;
  • the second bracket includes a pitch angle adjustment part, and the pitch angle adjustment part is used to adjust a first angle between the sensor and the integrated mounting plate, and the range of the first angle is a first preset range;
  • the third bracket includes a multi-directional adjustment component, and the multi-directional adjustment component is used to horizontally rotate the sensor or adjust a second included angle between the sensor and the integrated mounting plate, and the range of the second included angle is A second preset range, the first preset range is greater than the second preset range.
  • the connecting end includes at least two connecting positions, and the sensor bracket in the sensor mounting bracket group is detachably fixed on the integrated mounting board through the connecting end, including:
  • the sensor brackets in the sensor mounting bracket group are detachably fixed on the integrated mounting board through a target connection position, and the target connection position is any connection position in the connection ends.
  • the horizontal adjustment component includes a support plate and a first sensor installation plate
  • the supporting plate includes a first semicircle bracket, and the first semicircle bracket is connected to the first sensor mounting plate, so that the first sensor mounting plate moves horizontally along the arc direction of the first semicircle bracket.
  • the pitch angle adjustment component includes a second sensor mounting plate and a base
  • the base includes a triangular bracket, and the triangular bracket is connected to the second sensor mounting plate;
  • the variation range of the included angle between the second sensor mounting plate and the tripod bracket is a first preset range.
  • the multi-directional adjustment component includes a third sensor mounting plate, a rotatable support plate and a three-dimensional base;
  • the rotatable supporting plate includes a second semicircle support, the second semicircle support is connected to the third sensor mounting plate, and the range of the included angle between the third sensor mounting plate and the semicircle support is adjusted to the second preset set range;
  • the right-angled surface of the three-dimensional base is connected to the rotatable supporting plate, so that the rotatable supporting plate rotates horizontally on the right-angled surface.
  • the second semicircular support includes a sliding slot, so that the angle of the third sensor mounting plate is adjusted along the sliding slot.
  • the fourth bracket includes a fourth sensor mounting plate, a camera rainproof cover and a connecting seat; the connecting seat is connected to the camera rainproof cover; the fourth sensor mounting plate is connected to the Connect the above camera rain cover.
  • it also includes at least one combined inertial navigation antenna interface, the combined inertial navigation antenna interface is installed between any two brackets in the sensor mounting bracket group, and the combined inertial navigation antenna interface is used for For the installation of combined inertial navigation antenna.
  • the device further includes at least one reinforcing rod, the reinforcing rod is arranged on the side of the integrated mounting plate that is different from the side connected to the sensor mounting bracket group, and the reinforcing rod is used connect.
  • the present invention also discloses a vehicle, including the sensor integration installation device as described above.
  • Integrate various sensors such as central high-wire mechanical laser radar, forward-looking long-range laser radar, forward-looking long-range laser radar, side blindness compensation radar and combined inertial navigation antenna, realizing the multi-sensor integration in the true value system It is characterized by high integration, diverse types of installed sensors, and a large number of sensors.
  • Each sensor also has height adjustment methods such as horizontal angle adjustment and pitch angle adjustment, which realizes the adjustability of the integrated installation device of the sensor, and can greatly make up for the shortcomings of the sensor being installed and fixed at one time and inconvenient to change. Adjustment provides great convenience.
  • Fig. 1 is a schematic structural view of the sensor integrated installation device of the present invention
  • Fig. 2 is the structural representation of the first bracket of the present invention
  • Fig. 3 is the structural representation of the second bracket of the present invention.
  • Fig. 4 is the structural representation of the 3rd bracket of the present invention.
  • Fig. 5 is a schematic structural view of a fourth bracket of the present invention.
  • the reference signs in the figure correspond to: 1-integrated mounting plate, 2-sensor mounting bracket group, 21-first bracket, 22-second bracket, 23-third bracket, 24-fourth bracket, 211-support Plate, 212-first sensor mounting plate, 221-second sensor mounting plate, 222-base, 231-third sensor mounting plate, 232-rotatable supporting plate, 233-stereoscopic base, 241-fourth sensor mounting plate, 242-camera rain cover, 243-connecting seat.
  • the present invention discloses a sensor integrated installation device, including an integrated installation board 1 and a sensor installation bracket group 2;
  • the sensor bracket in the sensor mounting bracket group 2 includes a first bracket 21 for installing a high wire harness mechanical laser radar, a second bracket 22 for installing a forward-looking long-range laser radar, and a second bracket 22 for installing a side blindness supplementary radar. At least one of the three brackets 23 and the fourth bracket 24 for installing the camera;
  • the integrated mounting plate 1 includes at least two connection ends, and the sensor bracket in the sensor mounting bracket group 2 is detachably fixed on the integrated mounting plate 1 through the connection ends;
  • the first bracket 21 includes a horizontal adjustment part, and the horizontal condition part is used to adjust the position of the sensor along the horizontal direction;
  • the second bracket 22 includes a pitch angle adjustment part, and the pitch angle adjustment part is used to adjust the first angle between the sensor and the integrated installation board 1, and the range of the first angle is a first preset range;
  • the third bracket 23 includes a multi-directional adjustment component, which is used to horizontally rotate the sensor or adjust the second included angle between the sensor and the integrated installation board 1, and the range of the second included angle is the second A preset range, the first preset range is greater than the second preset range.
  • the sensor integrated installation device provided by the present invention is mainly used in the truth system of intelligent driving cars.
  • the device includes an integrated installation board 1 and a sensor installation bracket group 2.
  • Reinforcing ribs are added to parts with large deformation, and material thickness is reduced at parts with small stress and deformation that can be lightweighted, so as to achieve light weight while ensuring the strength and rigidity of the entire integrated platform.
  • the connecting ends can be connecting holes or connecting grooves
  • the sensor mounting bracket group 2 is fixed on the integrated mounting plate 1 through the connecting ends
  • the types of sensor brackets in the sensor mounting bracket group 2 include The first bracket 21 for installing the high wiring harness mechanical laser radar, the second bracket 22 for installing the forward-looking long-range laser radar, the third bracket 23 for installing the side blindness compensation radar and the first bracket for installing the camera Four brackets 24; the second bracket 22 and the third bracket 23 in the sensor mounting bracket group 2 are distributed on the periphery of the integrated mounting plate 1, the first bracket 21 is located in the middle of the integrated mounting plate 1, the first bracket 21, the second bracket 22 and the third bracket 23 are installed on the front of the integrated installation board 1 , and the fourth bracket 24 is hung upside down on the back of the integrated installation board 1 .
  • the forward-looking long-range 300-line laser radar is installed on one side of the integrated installation board 1, and the horizontal field of view of the forward-looking long-range 300-line laser radar
  • the angle of view is 65°
  • the vertical field of view of the forward-looking long-distance 300-line laser radar is 40°
  • the detection distance of the forward-looking long-range 300-line laser radar is 280m
  • two 32-line lateral laser blind-filling radars have a horizontal field of view
  • the angle of view is 360°
  • the vertical field of view angle of 32-line lateral laser supplementary blindness is 31°
  • the detection distance of 32-line lateral laser supplementary blindness is 80m
  • the 80-line main laser radar is installed in the middle of the integrated installation board 1, and the 80-line main laser radar
  • the horizontal field of view is 360° and the vertical field of view is 40°.
  • the detection distance of the 80-line main lidar is 230m.
  • the field angle is 360°, and the vertical field of view of the 32-line rear-view lidar is 31°; a 32-line side-type lidar is added to the side of the integrated mounting plate 1, and the horizontal field of view of the 32-line side-type lidar is 360°.
  • the vertical field of view of the 32-line side lidar is 90°, and the detection range of the 32-line side lidar is 100m.
  • the other two sets of combined inertial navigation antenna interfaces are installed at the four corners of the integrated installation board 1.
  • the sensor integrated installation device realizes that the laser radar FOV covers the whole car body, and integrates the central high-harness mechanical laser radar, the front-view long-range laser radar, the corner and rear mid-range laser radar, the side blindness compensation radar, and the front-view telephoto Long-distance camera, front-view wide-angle camera, side-view camera, combined inertial navigation antenna and other sensors are integrated, realizing the characteristics of highly integrated multi-sensor integration platform of the true value system, diverse types of installed sensors, and a large number of sensors .
  • the connecting end includes at least two connecting positions, and the sensor bracket in the sensor mounting bracket group 2 is detachably fixed on the integrated mounting plate 1 through the connecting end, including:
  • the sensor brackets in the sensor mounting bracket group 2 are detachably fixed on the integrated installation board 1 through a target connection position, and the target connection position is any connection position in the connection ends.
  • connection ends there are multiple connection ends on the integrated installation board 1, and the connection ends form connection positions, and the connection positions are used to detachably fix the bracket of the sensor installation bracket group 2 on the integrated installation board 1. If the connection ends are connection When installing the hole, determine the connection position of the sensor bracket in the sensor mounting bracket group 2, and connect the sensor bracket in the sensor bracket group to the connection position by loosening the bolts.
  • the plurality of connection positions can flexibly change the installation position of the sensor bracket in the sensor installation bracket group 2, and can install multiple sensor brackets in a high degree of integration.
  • the horizontal adjustment component includes a supporting plate 211 and a first sensor mounting plate 212;
  • the supporting plate 211 includes a first semicircle bracket connected to the first sensor mounting plate 212 so that the first sensor mounting plate 212 moves horizontally along the arc direction of the first semicircle bracket.
  • the first bracket 21 for installing the high wire harness mechanical lidar includes a horizontal adjustment part and a first base 222
  • the horizontal adjustment part includes a supporting plate 211 and a first sensor mounting plate 212
  • the first base 222 includes A rectangular parallelepiped bottom plate and a cylindrical support, one side of the bottom plate is used to connect with the integrated mounting plate 1, the other side of the bottom plate is connected to the cylindrical support, and the other end of the cylindrical support is connected to the supporting plate 211 connection
  • the supporting plate 211 includes two first semicircular brackets, the two first semicircular brackets are used to connect with the first sensor mounting plate 212, and the first sensor mounting plate 212 is used to connect the high wire harness mechanical laser radar to be installed.
  • the first sensor mounting plate 212 can be fixed after being horizontally displaced along the semicircle direction of the first bracket 21 according to needs, the maximum displacement range is 10cm, and the position of the sensor can be flexibly adjusted.
  • the pitch angle adjustment component includes a second sensor mounting plate 221 and a base 222;
  • the base 222 includes a tripod, and the tripod is connected to the second sensor mounting plate 221;
  • the variation range of the included angle between the second sensor mounting plate 221 and the tripod bracket is a first preset range.
  • the second bracket 22 for installing the forward-looking long-distance lidar includes a base 222 and a second sensor mounting plate 221, the base 222 is used to connect with the integrated mounting plate 1, and the base 222 includes Two triangular brackets, the two triangular brackets are used to connect with the second sensor mounting plate 221, and the second sensor mounting plate 221 is used to connect with the forward-looking long-distance laser radar to be installed through anti-loosening bolts.
  • the second sensor mounting plate 221 can adjust the angle of elevation or depression as required, and the adjustment range is 10°.
  • the second sensor mounting plate 221 also performs angle adjustment with the Z axis as the rotation axis, and the adjustable range is 10°. In this way, the angle of the sensor can be flexibly adjusted from multiple angles according to requirements, which is simple and convenient.
  • the multi-directional adjustment component includes a third sensor mounting plate 231 , a rotatable support plate 232 and a three-dimensional base 233 ;
  • the rotatable supporting plate 232 includes a second semicircle support, the second semicircle support is connected to the third sensor mounting plate 231, and the third sensor mounting plate 231 adjusts the range of the included angle with the semicircle support to the second preset range;
  • the right-angled surface of the three-dimensional base 233 is connected with the rotatable supporting plate 232, so that the rotatable supporting plate 232 rotates horizontally on the said right-angled surface.
  • the 3rd support 23 that is used to install lateral blindness supplementary radar comprises three-dimensional base 233, rotatable supporting plate 232 and the 3rd sensor mounting plate 231, and three-dimensional base 233 comprises triangular cube, one side of three-dimensional base 233 and The integrated mounting plate 1 is connected, and one side is connected with the rotatable supporting plate 232.
  • the rotatable supporting plate 232 includes two second semicircular brackets, and the two second semicircular brackets are connected with the third sensor mounting plate 231.
  • the third sensor mounting plate 231 is connected with the The lateral blindness supplementary radar to be installed is connected, and the angle between the third sensor mounting plate 231 and the integrated mounting plate 1 can be adjusted by 180°.
  • the second semicircular support includes a sliding slot, so that the angle of the third sensor mounting plate 231 can be adjusted along the sliding slot.
  • the rotatable supporting plate 232 uses a screw to locate the axis of rotation, and has a chute on the second semicircular support, and then uses another screw to fix the horizontal rotatable supporting plate 232 and the three-dimensional base 233, and the chute can make the rotatable
  • the supporting plate 232 rotates 20° in the horizontal plane.
  • the fourth bracket 24 includes a fourth sensor mounting plate 241, a camera rainproof cover 242 and a connecting seat; the connecting seat is connected with the camera rainproof cover 242; the fourth sensor mounting plate 241 is connected with the camera rainproof cover 242 connections.
  • the fourth bracket 24 for installing the camera includes a connection seat, a camera rainproof cover 242 and a fourth sensor mounting plate 241, the fourth sensor mounting plate 241 is circular, and the camera rainproof cover 242 is made of glass. Spherical, the camera rainproof cover 242 surrounds the circular fourth sensor mounting plate 241, and the camera to be installed can be surrounded by the camera rainproof cover 242, so as to avoid raindrops staying on the glass surface for a long time and affecting the work of the camera.
  • it also includes at least one combined inertial navigation antenna interface, the combined inertial navigation antenna interface is installed between any two brackets in the sensor mounting bracket group 2, and the combined inertial navigation antenna interface is used to install the combined inertial antenna.
  • Two groups of combined inertial navigation antenna interfaces are installed on the northwest, southwest, northeast, and southeast of the integrated installation board 1, and the combined inertial navigation antenna interface is used to install the combined inertial navigation antenna.
  • select the sensor to be installed determine the sensor mounting bracket group 2, then determine the position and angle where each sensor needs to be installed, select the sensor bracket in the corresponding sensor mounting bracket group 2, and fix the sensor on the sensor bracket According to the position of the sensor, determine the corresponding target bracket in the sensor mounting bracket group 2, and the target connection position of the target bracket, and the target connection position is any connection position in the connection end of the integrated mounting plate 1; then The target bracket is installed on the target connection position by loosening the bolts, and then according to the installation angle required by the sensor, the angle of the components on the target bracket is adjusted to determine the final angle of sensor installation.
  • the device further includes at least one reinforcing rod, the reinforcing rod is arranged on the side of the integrated mounting plate 1 different from that connected to the sensor mounting bracket group, and the reinforcing rod is used for connecting with the vehicle body.
  • the device further includes two reinforcing rods, the reinforcing rods are installed on the back of the integrated installation board 1 through fixed connection or detachable connection, the front of the integrated installation board 1 is the installation surface of the sensor installation bracket group, The back of the integrated mounting plate 1 is the connection surface with the vehicle body, and the integrated mounting plate 1 is connected to the vehicle body through the reinforcement rods, which not only play a role of connection, but also make the integrated mounting plate 1 more reliable and stable.
  • This embodiment discloses a vehicle, which includes the sensor integration installation device in the above embodiments.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Disclosed in the present invention are a sensor integration and mounting device and a vehicle. The sensor integration and mounting device comprises an integration and mounting plate and a sensor mounting bracket group; sensor brackets in the sensor mounting bracket group comprises at least one of a first bracket for mounting a high-beam mechanical lidar, a second bracket for mounting a front-view long-range lidar, a third bracket for mounting a lateral blind spot radar, and a fourth bracket for mounting a camera; the integration and mounting plate comprises at least two connecting ends; and the sensor brackets in the sensor mounting bracket group are detachably fixed on the integration and mounting plate by means of the connecting ends. Also disclosed in the present invention is a vehicle comprising the described sensor integration and mounting device. According to the present invention, sensors that can be integrated and mounted are rich in types and quantity, and mounting positions and angles of the sensors can be adjusted at any time. The present invention is suitable for truth system multi-sensor integration platforms of different systems of different vehicle types.

Description

一种传感器集成安装装置和车辆A sensor integrated installation device and vehicle 技术领域technical field
本发明涉及传感器装置技术领域，尤其涉及一种传感器集成安装装置和车辆。The invention relates to the technical field of sensor devices, in particular to a sensor integrated installation device and a vehicle.
背景技术Background technique
智能驾驶汽车飞速发展，众多传感器需要集成到车辆主体上，如前视摄像头、前向雷达、前向激光雷达、后视摄像头、环视摄像头、角雷达、侧雷达、侧激光雷达、超声波雷达等，传感器种类、数量固定方式众多，需要高精度集成。而传统的传感器安装方式一般都是焊接等无法调节，安装后无法按照需求调节安装位置、朝向、视场角，视距等。传感器器个体单独安装后会导致车辆主体的负载重量急剧增加，无法做到轻量化。个体传感器突兀的安装，在车辆的行驶过程中也会产生极大的风阻，长时间会对传感器的精度造成一定程度的影响。With the rapid development of intelligent driving cars, many sensors need to be integrated into the main body of the vehicle, such as front-view camera, forward-facing radar, forward-facing lidar, rear-view camera, surround-view camera, corner radar, side radar, side lidar, ultrasonic radar, etc. There are many types and ways of fixing the number of sensors, which require high-precision integration. However, the traditional sensor installation methods are generally unable to be adjusted by welding, etc. After installation, the installation position, orientation, field of view angle, and viewing distance cannot be adjusted according to requirements. Installing individual sensors alone will cause a sharp increase in the load weight of the vehicle body, making it impossible to reduce the weight. The abrupt installation of individual sensors will also generate great wind resistance during the driving process of the vehicle, which will affect the accuracy of the sensors to a certain extent for a long time.
发明内容Contents of the invention
本发明的目的在于提供一种传感器集成安装装置和车辆，解决上述问题的至少一种，本发明的第一个方面提出了传感器集成安装装置，包括集成安装板和传感器安装支架组；The object of the present invention is to provide a sensor integrated installation device and a vehicle to solve at least one of the above problems. The first aspect of the present invention provides a sensor integrated installation device, including an integrated installation plate and a sensor installation bracket group;
所述传感器安装支架组中的传感器支架包括用于安装高线束机械式激光雷达的第一支架、用于安装前视远距激光雷达的第二支架、用于安装侧向补盲雷达的第三支架和用于安装摄像头的第四支架中的至少一种；The sensor bracket in the sensor mounting bracket group includes a first bracket for installing a high wire harness mechanical laser radar, a second bracket for installing a forward-looking long-range laser radar, and a third bracket for installing a side blindness supplementary radar. At least one of a bracket and a fourth bracket for installing the camera;
所述集成安装板包括至少两个连接端，所述传感器安装支架组中的传感器支架通过连接端可拆卸地固定在所述集成安装板上；The integrated installation board includes at least two connection ends, and the sensor brackets in the sensor installation bracket group are detachably fixed on the integrated installation board through the connection ends;
所述第一支架包括水平调节部件，所述水平条件部件用于沿着水平方向调节传感器的位置；The first bracket includes a horizontal adjustment part, and the horizontal condition part is used to adjust the position of the sensor along the horizontal direction;
所述第二支架包括俯仰角调节部件，所述俯仰角调节部件用于调节所述传 感器与所述集成安装板的第一夹角，所述第一夹角的范围为第一预设范围；The second bracket includes a pitch angle adjustment part, and the pitch angle adjustment part is used to adjust a first angle between the sensor and the integrated mounting plate, and the range of the first angle is a first preset range;
所述第三支架包括多方位调节部件，所述多方位调节部件用于水平旋转所述传感器或调节所述传感器与所述集成安装板的第二夹角，所述第二夹角的范围为第二预设范围，所述第一预设范围大于第二预设范围。The third bracket includes a multi-directional adjustment component, and the multi-directional adjustment component is used to horizontally rotate the sensor or adjust a second included angle between the sensor and the integrated mounting plate, and the range of the second included angle is A second preset range, the first preset range is greater than the second preset range.
在一些可能的实施方式中，所述连接端包括至少两个连接位，所述传感器安装支架组中的传感器支架通过连接端可拆卸地固定在所述集成安装板上，包括：In some possible implementations, the connecting end includes at least two connecting positions, and the sensor bracket in the sensor mounting bracket group is detachably fixed on the integrated mounting board through the connecting end, including:
所述传感器安装支架组中的传感器支架通过目标连接位可拆卸地固定在所述集成安装板上，所述目标连接位为所述连接端中任一连接位。The sensor brackets in the sensor mounting bracket group are detachably fixed on the integrated mounting board through a target connection position, and the target connection position is any connection position in the connection ends.
在一些可能的实施方式中，所述水平调节部件包括托板和第一传感器安装板；In some possible implementation manners, the horizontal adjustment component includes a support plate and a first sensor installation plate;
所述托板包括第一半圆支架，所述第一半圆支架与所述第一传感器安装板连接，以使得所述第一传感器安装板沿着所述第一半圆支架的弧形方向水平移动。The supporting plate includes a first semicircle bracket, and the first semicircle bracket is connected to the first sensor mounting plate, so that the first sensor mounting plate moves horizontally along the arc direction of the first semicircle bracket.
在一些可能的实施方式中，所述俯仰角调节部件包括第二传感器安装板和底座；In some possible implementation manners, the pitch angle adjustment component includes a second sensor mounting plate and a base;
所述底座包括三角支架，所述三角支架与所述第二传感器安装板连接；The base includes a triangular bracket, and the triangular bracket is connected to the second sensor mounting plate;
所述第二传感器安装板与所述三角支架的夹角变化范围为第一预设范围。The variation range of the included angle between the second sensor mounting plate and the tripod bracket is a first preset range.
在一些可能的实施方式中，所述多方位调节部件包括第三传感器安装板、可旋转托板和立体底座；In some possible implementations, the multi-directional adjustment component includes a third sensor mounting plate, a rotatable support plate and a three-dimensional base;
所述可旋转托板包括第二半圆支架，所述第二半圆支架与所述第三传感器安装板连接，所述第三传感器安装板调节与所述半圆支架的夹角变化范围为第二预设范围；The rotatable supporting plate includes a second semicircle support, the second semicircle support is connected to the third sensor mounting plate, and the range of the included angle between the third sensor mounting plate and the semicircle support is adjusted to the second preset set range;
所述立体底座的直角面与所述可旋转托板连接，以使得所述可旋转托板在所述直角面上水平旋转。The right-angled surface of the three-dimensional base is connected to the rotatable supporting plate, so that the rotatable supporting plate rotates horizontally on the right-angled surface.
在一些可能的实施方式中，所述第二半圆支架包括一个滑槽，以使得所述第三传感器安装板沿着所述滑槽调节角度。In some possible implementation manners, the second semicircular support includes a sliding slot, so that the angle of the third sensor mounting plate is adjusted along the sliding slot.
在一些可能的实施方式中，所述第四支架包括第四传感器安装板、摄像头防雨罩和连接座；所述连接座与所述摄像头防雨罩连接；所述第四传感器安装板与所述摄像头防雨罩连接。In some possible implementation manners, the fourth bracket includes a fourth sensor mounting plate, a camera rainproof cover and a connecting seat; the connecting seat is connected to the camera rainproof cover; the fourth sensor mounting plate is connected to the Connect the above camera rain cover.
在一些可能的实施方式中，还包括至少一个组合惯导天线接口，所述组合惯导天线接口安装于所述传感器安装支架组中的任意两个支架之间，所述组合惯导天线接口用于安装组合惯导天线。In some possible implementation manners, it also includes at least one combined inertial navigation antenna interface, the combined inertial navigation antenna interface is installed between any two brackets in the sensor mounting bracket group, and the combined inertial navigation antenna interface is used for For the installation of combined inertial navigation antenna.
在一些可能的实施方式中，所述装置还包括至少一个加强杆，所述加强杆设置在所述集成安装板的不同于连接所述传感器安装支架组的一面，所述加强杆用于与车身连接。相应地，本发明还公开了一种车辆，包括如上所述的传感器集成安装装置。In some possible implementation manners, the device further includes at least one reinforcing rod, the reinforcing rod is arranged on the side of the integrated mounting plate that is different from the side connected to the sensor mounting bracket group, and the reinforcing rod is used connect. Correspondingly, the present invention also discloses a vehicle, including the sensor integration installation device as described above.
实施本发明，具有如下有益效果：Implement the present invention, have following beneficial effect:
将中央高线束机械式激光雷达、前视远距激光雷达、前视远距激光雷达、侧向补盲雷达和组合惯导天线等多种传感器一体化集成，实现了真值系统中多传感器的高度集成化、安装传感器种类多样化以及传感器数量众多化的特点。每个传感器也具有水平角调节和俯仰角调节等高度调节的方式，实现了传感器集成安装装置的可调性，能够极大弥补传感器一次安装固定、不便更改的缺点，为传感器后期标定，传感器位置调整提供了极大的方便。Integrate various sensors such as central high-wire mechanical laser radar, forward-looking long-range laser radar, forward-looking long-range laser radar, side blindness compensation radar and combined inertial navigation antenna, realizing the multi-sensor integration in the true value system It is characterized by high integration, diverse types of installed sensors, and a large number of sensors. Each sensor also has height adjustment methods such as horizontal angle adjustment and pitch angle adjustment, which realizes the adjustability of the integrated installation device of the sensor, and can greatly make up for the shortcomings of the sensor being installed and fixed at one time and inconvenient to change. Adjustment provides great convenience.
附图说明Description of drawings
为了更清楚地说明本发明的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。In order to illustrate the technical solution of the present invention more clearly, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention , for those skilled in the art, other drawings can also be obtained based on these drawings without creative work.
图1本发明传感器集成安装装置的结构示意图；Fig. 1 is a schematic structural view of the sensor integrated installation device of the present invention;
图2是本发明的第一支架的结构示意图；Fig. 2 is the structural representation of the first bracket of the present invention;
图3是本发明的第二支架的结构示意图；Fig. 3 is the structural representation of the second bracket of the present invention;
图4是本发明的第三支架的结构示意图；Fig. 4 is the structural representation of the 3rd bracket of the present invention;
图5是本发明的第四支架的结构示意图。Fig. 5 is a schematic structural view of a fourth bracket of the present invention.
其中，图中附图标记对应为：1-集成安装板，2-传感器安装支架组，21-第一支架，22-第二支架，23-第三支架，24-第四支架，211-托板，212-第一传感器安装板，221-第二传感器安装板，222-底座，231-第三传感器安装板，232-可旋转托板，233-立体底座，241-第四传感器安装板，242-摄像头防雨罩，243-连接座。Among them, the reference signs in the figure correspond to: 1-integrated mounting plate, 2-sensor mounting bracket group, 21-first bracket, 22-second bracket, 23-third bracket, 24-fourth bracket, 211-support Plate, 212-first sensor mounting plate, 221-second sensor mounting plate, 222-base, 231-third sensor mounting plate, 232-rotatable supporting plate, 233-stereoscopic base, 241-fourth sensor mounting plate, 242-camera rain cover, 243-connecting seat.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the invention. Obviously, the described embodiments are only some, not all, embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.
如图1所示，本发明公开了一种传感器集成安装装置，包括集成安装板1和传感器安装支架组2；As shown in Figure 1, the present invention discloses a sensor integrated installation device, including an integrated installation board 1 and a sensor installation bracket group 2;
传感器安装支架组2中的传感器支架包括用于安装高线束机械式激光雷达的第一支架21、用于安装前视远距激光雷达的第二支架22、用于安装侧向补盲雷达的第三支架23和用于安装摄像头的第四支架24中的至少一种；The sensor bracket in the sensor mounting bracket group 2 includes a first bracket 21 for installing a high wire harness mechanical laser radar, a second bracket 22 for installing a forward-looking long-range laser radar, and a second bracket 22 for installing a side blindness supplementary radar. At least one of the three brackets 23 and the fourth bracket 24 for installing the camera;
集成安装板1包括至少两个连接端，传感器安装支架组2中的传感器支架通过连接端可拆卸地固定在集成安装板1上；The integrated mounting plate 1 includes at least two connection ends, and the sensor bracket in the sensor mounting bracket group 2 is detachably fixed on the integrated mounting plate 1 through the connection ends;
第一支架21包括水平调节部件，所述水平条件部件用于沿着水平方向调节传感器的位置；The first bracket 21 includes a horizontal adjustment part, and the horizontal condition part is used to adjust the position of the sensor along the horizontal direction;
第二支架22包括俯仰角调节部件，俯仰角调节部件用于调节所述传感器与集成安装板1的第一夹角，所述第一夹角的范围为第一预设范围；The second bracket 22 includes a pitch angle adjustment part, and the pitch angle adjustment part is used to adjust the first angle between the sensor and the integrated installation board 1, and the range of the first angle is a first preset range;
第三支架23包括多方位调节部件，所述多方位调节部件用于水平旋转所述传感器或调节所述传感器与集成安装板1的第二夹角，所述第二夹角的范围为第二预设范围，所述第一预设范围大于第二预设范围。The third bracket 23 includes a multi-directional adjustment component, which is used to horizontally rotate the sensor or adjust the second included angle between the sensor and the integrated installation board 1, and the range of the second included angle is the second A preset range, the first preset range is greater than the second preset range.
具体地，本发明提供的传感器集成安装装置主要应用于智能驾驶汽车的真值系统，所述装置包括集成安装板1和传感器安装支架组2，集成安装板1经过轻量化处理，在受到应力和形变量巨大的部位添加加强筋处理，在应力和形变量小且可以轻量化处理的部位进行减少材料厚度等处理，从而实现轻量化的同时保证整个集成平台的强度和刚度。在集成安装板1上有多个连接端，连接端可以是连接孔或连接槽，传感器安装支架组2通过连接端固定在集成安装板1上；传感器安装支架组2中的传感器支架的种类包括用于安装高线束机械式激光雷达的第一支架21、用于安装前视远距激光雷达的第二支架22、用于安装侧向补盲雷达的第三支架23和用于安装摄像头的第四支架24；传感器安装支架组2中的第二支架22、第三支架23分布在集成安装板1的周边，第一支架21位 于集成安装板1的中间，第一支架21、第二支架22和第三支架23安装在集成安装板1的正面，第四支架24倒挂在集成安装板1的背面。具体为，当传感器集成安装装置安装在车辆的车顶时，前视远距300线激光雷达安装在集成安装板1的其中一侧边，所述前视远距300线激光雷达的水平视场角65°，所述前视远距300线激光雷达的垂直视场角40°，所述前视远距300线激光雷达的探测距离280m；2个32线侧向激光补盲雷达水平视场角360°，32线侧向激光补盲的垂直视场角31°，32线侧向激光补盲的探测距离80m；80线主激光雷达安装在集成安装板1的中间，80线主激光雷达的水平视场角360°垂直视场角40°，80线主激光雷达的探测距离230m，80线主激光雷达的后部安装一个32线后视激光雷达，32线后视激光雷达的水平视场角360°，32线后视激光雷达的垂直视场角31°；集成安装板1的侧向各添加一个32线侧式激光雷达，32线侧式激光雷达的水平视场角360°，32线侧式激光雷达的垂直视场角90°、32线侧式激光雷达的探测距离100m，另外两组组合惯导天线接口安装在集成安装板1的四个边角处。传感器集成安装装置实现激光雷达FOV将车体全覆盖，将中央高线束机械式激光雷达、前视远距激光雷达、角部及后部中距激光雷达、侧向补盲雷达、前视长焦远距摄像头，前视广角摄像头、侧向摄像头、组合惯导天线等多种传感器一体化集成，实现了真值系统多传感器集成平台高度集成化、安装传感器种类多样化以及传感器数量众多化的特点。Specifically, the sensor integrated installation device provided by the present invention is mainly used in the truth system of intelligent driving cars. The device includes an integrated installation board 1 and a sensor installation bracket group 2. Reinforcing ribs are added to parts with large deformation, and material thickness is reduced at parts with small stress and deformation that can be lightweighted, so as to achieve light weight while ensuring the strength and rigidity of the entire integrated platform. There are multiple connecting ends on the integrated mounting plate 1, and the connecting ends can be connecting holes or connecting grooves, and the sensor mounting bracket group 2 is fixed on the integrated mounting plate 1 through the connecting ends; the types of sensor brackets in the sensor mounting bracket group 2 include The first bracket 21 for installing the high wiring harness mechanical laser radar, the second bracket 22 for installing the forward-looking long-range laser radar, the third bracket 23 for installing the side blindness compensation radar and the first bracket for installing the camera Four brackets 24; the second bracket 22 and the third bracket 23 in the sensor mounting bracket group 2 are distributed on the periphery of the integrated mounting plate 1, the first bracket 21 is located in the middle of the integrated mounting plate 1, the first bracket 21, the second bracket 22 and the third bracket 23 are installed on the front of the integrated installation board 1 , and the fourth bracket 24 is hung upside down on the back of the integrated installation board 1 . Specifically, when the sensor integrated installation device is installed on the roof of the vehicle, the forward-looking long-range 300-line laser radar is installed on one side of the integrated installation board 1, and the horizontal field of view of the forward-looking long-range 300-line laser radar The angle of view is 65°, the vertical field of view of the forward-looking long-distance 300-line laser radar is 40°, and the detection distance of the forward-looking long-range 300-line laser radar is 280m; two 32-line lateral laser blind-filling radars have a horizontal field of view The angle of view is 360°, the vertical field of view angle of 32-line lateral laser supplementary blindness is 31°, and the detection distance of 32-line lateral laser supplementary blindness is 80m; the 80-line main laser radar is installed in the middle of the integrated installation board 1, and the 80-line main laser radar The horizontal field of view is 360° and the vertical field of view is 40°. The detection distance of the 80-line main lidar is 230m. The field angle is 360°, and the vertical field of view of the 32-line rear-view lidar is 31°; a 32-line side-type lidar is added to the side of the integrated mounting plate 1, and the horizontal field of view of the 32-line side-type lidar is 360°. The vertical field of view of the 32-line side lidar is 90°, and the detection range of the 32-line side lidar is 100m. The other two sets of combined inertial navigation antenna interfaces are installed at the four corners of the integrated installation board 1. The sensor integrated installation device realizes that the laser radar FOV covers the whole car body, and integrates the central high-harness mechanical laser radar, the front-view long-range laser radar, the corner and rear mid-range laser radar, the side blindness compensation radar, and the front-view telephoto Long-distance camera, front-view wide-angle camera, side-view camera, combined inertial navigation antenna and other sensors are integrated, realizing the characteristics of highly integrated multi-sensor integration platform of the true value system, diverse types of installed sensors, and a large number of sensors .
在一个实施例中，所述连接端包括至少两个连接位，传感器安装支架组2中的传感器支架通过连接端可拆卸地固定在集成安装板1上，包括：In one embodiment, the connecting end includes at least two connecting positions, and the sensor bracket in the sensor mounting bracket group 2 is detachably fixed on the integrated mounting plate 1 through the connecting end, including:
传感器安装支架组2中的传感器支架通过目标连接位可拆卸地固定在集成安装板1上，所述目标连接位为所述连接端中任一连接位。The sensor brackets in the sensor mounting bracket group 2 are detachably fixed on the integrated installation board 1 through a target connection position, and the target connection position is any connection position in the connection ends.
具体地，集成安装板1上具有多个连接端，而连接端又组成连接位，连接位用于将传感器安装支架组2的支架可拆卸的固定在集成安装板1上，若连接端为连接孔时，确定传感器安装支架组2中传感器支架的安装的连接位，通过放松螺栓将传感器支架组中的传感器支架与连接位连接。多个连接位，能够灵活的变化传感器安装支架组2中传感器支架的安装位置，且能够高度集成安装多个传感器支架。Specifically, there are multiple connection ends on the integrated installation board 1, and the connection ends form connection positions, and the connection positions are used to detachably fix the bracket of the sensor installation bracket group 2 on the integrated installation board 1. If the connection ends are connection When installing the hole, determine the connection position of the sensor bracket in the sensor mounting bracket group 2, and connect the sensor bracket in the sensor bracket group to the connection position by loosening the bolts. The plurality of connection positions can flexibly change the installation position of the sensor bracket in the sensor installation bracket group 2, and can install multiple sensor brackets in a high degree of integration.
在一个实施例中，所述水平调节部件包括托板211和第一传感器安装板212；In one embodiment, the horizontal adjustment component includes a supporting plate 211 and a first sensor mounting plate 212;
托板211包括第一半圆支架，所述第一半圆支架与第一传感器安装板212 连接，以使得第一传感器安装板212沿着所述第一半圆支架的弧形方向水平移动。The supporting plate 211 includes a first semicircle bracket connected to the first sensor mounting plate 212 so that the first sensor mounting plate 212 moves horizontally along the arc direction of the first semicircle bracket.
如图2所示，用于安装高线束机械式激光雷达的第一支架21包括水平调节部件和第一底座222，水平调节部件包括托板211和第一传感器安装板212，第一底座222包括长方体的底板和圆柱形的支架，所述底板的一面用于与集成安装板1连接，所述底板的另一面与所述圆柱形的支架连接，所述圆柱形的支架的另一端与托板211连接，托板211包括两个第一半圆支架，两个第一半圆支架用于与第一传感器安装板212连接，第一传感器安装板212用于连接待安装的高线束机械式激光雷达。第一传感器安装板212可根据需要沿着第一支架21半圆的圆弧方向进行前后水平位移后固定，最大的位移幅度为10cm，灵活地调整传感器的位置。As shown in FIG. 2 , the first bracket 21 for installing the high wire harness mechanical lidar includes a horizontal adjustment part and a first base 222, the horizontal adjustment part includes a supporting plate 211 and a first sensor mounting plate 212, and the first base 222 includes A rectangular parallelepiped bottom plate and a cylindrical support, one side of the bottom plate is used to connect with the integrated mounting plate 1, the other side of the bottom plate is connected to the cylindrical support, and the other end of the cylindrical support is connected to the supporting plate 211 connection, the supporting plate 211 includes two first semicircular brackets, the two first semicircular brackets are used to connect with the first sensor mounting plate 212, and the first sensor mounting plate 212 is used to connect the high wire harness mechanical laser radar to be installed. The first sensor mounting plate 212 can be fixed after being horizontally displaced along the semicircle direction of the first bracket 21 according to needs, the maximum displacement range is 10cm, and the position of the sensor can be flexibly adjusted.
在一个实施例中，所述俯仰角调节部件包括第二传感器安装板221和底座222；In one embodiment, the pitch angle adjustment component includes a second sensor mounting plate 221 and a base 222;
底座222包括三角支架，所述三角支架与第二传感器安装板221连接；The base 222 includes a tripod, and the tripod is connected to the second sensor mounting plate 221;
第二传感器安装板221与所述三角支架的夹角变化范围为第一预设范围。The variation range of the included angle between the second sensor mounting plate 221 and the tripod bracket is a first preset range.
如图3所示，用于安装前视远距激光雷达的第二支架22，第二支架22包括底座222和第二传感器安装板221，底座222用于与集成安装板1连接，底座222包括两个三角支架，两个三角支架用于与第二传感器安装板221连接，第二传感器安装板221用于与待安装的前视远距激光雷达通过防松螺栓连接。第二传感器安装板221可根据需要调节仰角度或俯角度，调节幅度为10°，其次，第二传感器安装板221还进行以Z轴为转动轴进行角度调整，可调节幅度为10°。如此，能够根据需求多角度的灵活调节传感器的角度，简单方便。As shown in Figure 3, the second bracket 22 for installing the forward-looking long-distance lidar, the second bracket 22 includes a base 222 and a second sensor mounting plate 221, the base 222 is used to connect with the integrated mounting plate 1, and the base 222 includes Two triangular brackets, the two triangular brackets are used to connect with the second sensor mounting plate 221, and the second sensor mounting plate 221 is used to connect with the forward-looking long-distance laser radar to be installed through anti-loosening bolts. The second sensor mounting plate 221 can adjust the angle of elevation or depression as required, and the adjustment range is 10°. Secondly, the second sensor mounting plate 221 also performs angle adjustment with the Z axis as the rotation axis, and the adjustable range is 10°. In this way, the angle of the sensor can be flexibly adjusted from multiple angles according to requirements, which is simple and convenient.
在一个实施例中，所述多方位调节部件包括第三传感器安装板231、可旋转托板232和立体底座233；In one embodiment, the multi-directional adjustment component includes a third sensor mounting plate 231 , a rotatable support plate 232 and a three-dimensional base 233 ;
可旋转托板232包括第二半圆支架，所述第二半圆支架与第三传感器安装板231连接，第三传感器安装板231调节与所述半圆支架的夹角变化范围为第二预设范围；The rotatable supporting plate 232 includes a second semicircle support, the second semicircle support is connected to the third sensor mounting plate 231, and the third sensor mounting plate 231 adjusts the range of the included angle with the semicircle support to the second preset range;
立体底座233的直角面与可旋转托板232连接，以使得可旋转托板232在所述直角面上水平旋转。The right-angled surface of the three-dimensional base 233 is connected with the rotatable supporting plate 232, so that the rotatable supporting plate 232 rotates horizontally on the said right-angled surface.
如图4所示，用于安装侧向补盲雷达的第三支架23包括立体底座233、可 旋转托板232和第三传感器安装板231，立体底座233包括三角形立方体，立体底座233的一面与集成安装板1连接，一面与可旋转托板232连接，可旋转托板232包括两个第二半圆支架，两个第二半圆支架与第三传感器安装板231连接，第三传感器安装板231与待安装的侧向补盲雷达进行连接，第三传感器安装板231与集成安装板1的夹角能够进行180°调节。As shown in Figure 4, the 3rd support 23 that is used to install lateral blindness supplementary radar comprises three-dimensional base 233, rotatable supporting plate 232 and the 3rd sensor mounting plate 231, and three-dimensional base 233 comprises triangular cube, one side of three-dimensional base 233 and The integrated mounting plate 1 is connected, and one side is connected with the rotatable supporting plate 232. The rotatable supporting plate 232 includes two second semicircular brackets, and the two second semicircular brackets are connected with the third sensor mounting plate 231. The third sensor mounting plate 231 is connected with the The lateral blindness supplementary radar to be installed is connected, and the angle between the third sensor mounting plate 231 and the integrated mounting plate 1 can be adjusted by 180°.
在一个实施例中，所述第二半圆支架包括一个滑槽，以使得第三传感器安装板231沿着所述滑槽调节角度。In one embodiment, the second semicircular support includes a sliding slot, so that the angle of the third sensor mounting plate 231 can be adjusted along the sliding slot.
可旋转托板232用一颗螺丝定位旋转轴心，在第二半圆支架上拥有一个滑槽，再用另一颗螺丝将水平可旋转托板232与立体底座233固定，滑槽能够使可旋转托板232水平面转动20°。The rotatable supporting plate 232 uses a screw to locate the axis of rotation, and has a chute on the second semicircular support, and then uses another screw to fix the horizontal rotatable supporting plate 232 and the three-dimensional base 233, and the chute can make the rotatable The supporting plate 232 rotates 20° in the horizontal plane.
在一个实施例中，第四支架24包括第四传感器安装板241、摄像头防雨罩242和连接座；所述连接座与摄像头防雨罩242连接；第四传感器安装板241与摄像头防雨罩242连接。In one embodiment, the fourth bracket 24 includes a fourth sensor mounting plate 241, a camera rainproof cover 242 and a connecting seat; the connecting seat is connected with the camera rainproof cover 242; the fourth sensor mounting plate 241 is connected with the camera rainproof cover 242 connections.
请参阅图5，用于安装摄像头的第四支架24包括连接座、摄像头防雨罩242和第四传感器安装板241，第四传感器安装板241为圆形，摄像头防雨罩242由玻璃打造成球形，摄像头防雨罩242包围圆形的第四传感器安装板241，待安装的摄像头能够被摄像头防雨罩242包围，避免雨滴在玻璃表面长时间停留，影响到摄像头工作。Referring to Fig. 5, the fourth bracket 24 for installing the camera includes a connection seat, a camera rainproof cover 242 and a fourth sensor mounting plate 241, the fourth sensor mounting plate 241 is circular, and the camera rainproof cover 242 is made of glass. Spherical, the camera rainproof cover 242 surrounds the circular fourth sensor mounting plate 241, and the camera to be installed can be surrounded by the camera rainproof cover 242, so as to avoid raindrops staying on the glass surface for a long time and affecting the work of the camera.
在一个实施例中，还包括至少一个组合惯导天线接口，所述组合惯导天线接口安装于传感器安装支架组2中的任意两个支架之间，所述组合惯导天线接口用于安装组合惯导天线。In one embodiment, it also includes at least one combined inertial navigation antenna interface, the combined inertial navigation antenna interface is installed between any two brackets in the sensor mounting bracket group 2, and the combined inertial navigation antenna interface is used to install the combined inertial antenna.
在集成安装板1的西北、西南、东北、东南四处安装两组组合惯导天线接口，组合惯导天线接口用于安装组合惯导天线。Two groups of combined inertial navigation antenna interfaces are installed on the northwest, southwest, northeast, and southeast of the integrated installation board 1, and the combined inertial navigation antenna interface is used to install the combined inertial navigation antenna.
在一个实施例中，选择待安装的传感器，确定传感器安装支架组2，然后确定每个传感器需要安装的位置和角度，选择对应的传感器安装支架组2中的传感器支架，将传感器固定在传感器支架上；根据传感器的位置，确定传感器安装支架组2中的对应的目标支架，以及目标支架的目标连接位，所述目标连接位为集成安装板1的连接端中的任一连接位；然后将目标支架通过放松螺栓安装在目标连接位上，再根据传感器所需要的安装角度，调节目标支架上部件的角度，以确定传感器安装的最终角度。In one embodiment, select the sensor to be installed, determine the sensor mounting bracket group 2, then determine the position and angle where each sensor needs to be installed, select the sensor bracket in the corresponding sensor mounting bracket group 2, and fix the sensor on the sensor bracket According to the position of the sensor, determine the corresponding target bracket in the sensor mounting bracket group 2, and the target connection position of the target bracket, and the target connection position is any connection position in the connection end of the integrated mounting plate 1; then The target bracket is installed on the target connection position by loosening the bolts, and then according to the installation angle required by the sensor, the angle of the components on the target bracket is adjusted to determine the final angle of sensor installation.
在一个实施例中，所述装置还包括至少一个加强杆，所述加强杆设置在集成安装板1的不同于连接所述传感器安装支架组的一面，所述加强杆用于与车身连接。In one embodiment, the device further includes at least one reinforcing rod, the reinforcing rod is arranged on the side of the integrated mounting plate 1 different from that connected to the sensor mounting bracket group, and the reinforcing rod is used for connecting with the vehicle body.
在一个实施例中，所述装置还包括两个加强杆，加强杆通过固定连接或可拆卸连接方式安装在集成安装板1的背面，集成安装板1的正面为传感器安装支架组的安装面，集成安装板1的背面为与车辆的车身连接面，集成安装板1通过加强杆与车身连接，加强杆不仅起到连接的作用，也能够使集成安装板1更可靠稳定。In one embodiment, the device further includes two reinforcing rods, the reinforcing rods are installed on the back of the integrated installation board 1 through fixed connection or detachable connection, the front of the integrated installation board 1 is the installation surface of the sensor installation bracket group, The back of the integrated mounting plate 1 is the connection surface with the vehicle body, and the integrated mounting plate 1 is connected to the vehicle body through the reinforcement rods, which not only play a role of connection, but also make the integrated mounting plate 1 more reliable and stable.
本实施例公开了一种车辆，该车辆包括上述实施例中的传感器集成安装装置。This embodiment discloses a vehicle, which includes the sensor integration installation device in the above embodiments.
以上所揭露的仅为本发明的几个较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosures are only a few preferred embodiments of the present invention, which certainly cannot limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (10)

  1. 一种传感器集成安装装置，其特征在于，包括集成安装板和传感器安装支架组；A sensor integrated installation device, characterized in that it includes an integrated installation plate and a sensor installation bracket group;
    所述传感器安装支架组中的传感器支架包括用于安装高线束机械式激光雷达的第一支架、用于安装前视远距激光雷达的第二支架、用于安装侧向补盲雷达的第三支架和用于安装摄像头的第四支架中的至少一种；The sensor bracket in the sensor mounting bracket group includes a first bracket for installing a high wire harness mechanical laser radar, a second bracket for installing a forward-looking long-range laser radar, and a third bracket for installing a side blindness supplementary radar. At least one of a bracket and a fourth bracket for installing the camera;
    所述集成安装板包括至少两个连接端，所述传感器安装支架组中的传感器支架通过连接端可拆卸地固定在所述集成安装板上；The integrated installation board includes at least two connection ends, and the sensor brackets in the sensor installation bracket group are detachably fixed on the integrated installation board through the connection ends;
    所述第一支架包括水平调节部件，所述水平条件部件用于沿着水平方向调节传感器的位置；The first bracket includes a horizontal adjustment part, and the horizontal condition part is used to adjust the position of the sensor along the horizontal direction;
    所述第二支架包括俯仰角调节部件，所述俯仰角调节部件用于调节所述传感器与所述集成安装板的第一夹角，所述第一夹角的范围为第一预设范围；The second bracket includes a pitch angle adjustment component, the pitch angle adjustment component is used to adjust a first included angle between the sensor and the integrated mounting plate, and the range of the first included angle is a first preset range;
    所述第三支架包括多方位调节部件，所述多方位调节部件用于水平旋转所述传感器或调节所述传感器与所述集成安装板的第二夹角，所述第二夹角的范围为第二预设范围，所述第一预设范围大于第二预设范围。The third bracket includes a multi-directional adjustment component, and the multi-directional adjustment component is used to horizontally rotate the sensor or adjust a second included angle between the sensor and the integrated mounting plate, and the range of the second included angle is A second preset range, the first preset range is greater than the second preset range.
  2. 根据权利要求1所述的传感器集成安装装置，其特征在于，所述连接端包括至少两个连接位，所述传感器安装支架组中的传感器支架通过连接端可拆卸地固定在所述集成安装板上，包括：The sensor integrated installation device according to claim 1, wherein the connection end includes at least two connection positions, and the sensor bracket in the sensor installation bracket group is detachably fixed on the integrated installation board through the connection end on, including:
    所述传感器安装支架组中的传感器支架通过目标连接位可拆卸地固定在所述集成安装板上，所述目标连接位为所述连接端中任一连接位。The sensor brackets in the sensor mounting bracket group are detachably fixed on the integrated mounting board through a target connection position, and the target connection position is any connection position in the connection ends.
  3. 根据权利要求1所述的传感器集成安装装置，其特征在于，所述水平调节部件包括托板和第一传感器安装板；The sensor integrated installation device according to claim 1, wherein the horizontal adjustment component comprises a supporting plate and a first sensor installation plate;
    所述托板包括第一半圆支架，所述第一半圆支架与所述第一传感器安装板连接，以使得所述第一传感器安装板沿着所述第一半圆支架的弧形方向水平移动。The supporting plate includes a first semicircle bracket, and the first semicircle bracket is connected to the first sensor mounting plate, so that the first sensor mounting plate moves horizontally along the arc direction of the first semicircle bracket.
  4. 根据权利要求1所述的传感器集成安装装置，其特征在于，所述俯仰角 调节部件包括第二传感器安装板和底座；The sensor integrated mounting device according to claim 1, wherein the pitch angle adjustment part comprises a second sensor mounting plate and a base;
    所述底座包括三角支架，所述三角支架与所述第二传感器安装板连接；The base includes a triangular bracket, and the triangular bracket is connected to the second sensor mounting plate;
    所述第二传感器安装板与所述三角支架的夹角变化范围为第一预设范围。The variation range of the included angle between the second sensor mounting plate and the tripod bracket is a first preset range.
  5. 根据权利要求1所述的传感器集成安装装置，其特征在于，所述多方位调节部件包括第三传感器安装板、可旋转托板和立体底座；The sensor integrated installation device according to claim 1, wherein the multi-directional adjustment component comprises a third sensor installation plate, a rotatable support plate and a three-dimensional base;
    所述可旋转托板包括第二半圆支架，所述第二半圆支架与所述第三传感器安装板连接，所述第三传感器安装板调节与所述半圆支架的夹角变化范围为第二预设范围；The rotatable supporting plate includes a second semicircle support, the second semicircle support is connected to the third sensor mounting plate, and the range of the included angle between the third sensor mounting plate and the semicircle support is adjusted to the second preset set range;
    所述立体底座的直角面与所述可旋转托板连接，以使得所述可旋转托板在所述直角面上水平旋转。The right-angled surface of the three-dimensional base is connected to the rotatable supporting plate, so that the rotatable supporting plate rotates horizontally on the right-angled surface.
  6. 根据权利要求5所述的传感器集成安装装置，其特征在于，所述第二半圆支架包括一个滑槽，以使得所述第三传感器安装板沿着所述滑槽调节角度。The integrated installation device for sensors according to claim 5, wherein the second semicircular support includes a sliding slot, so that the angle of the third sensor mounting plate can be adjusted along the sliding slot.
  7. 根据权利要求1所述的传感器集成安装装置，其特征在于，所述第四支架包括第四传感器安装板、摄像头防雨罩和连接座；所述连接座与所述摄像头防雨罩连接；所述第四传感器安装板与所述摄像头防雨罩连接。The sensor integrated installation device according to claim 1, wherein the fourth bracket includes a fourth sensor mounting plate, a camera rainproof cover and a connecting seat; the connecting seat is connected to the camera rainproof cover; The fourth sensor mounting plate is connected with the camera rain cover.
  8. 根据权利要求1所述的传感器集成安装装置，其特征在于，还包括至少一个组合惯导天线接口，所述组合惯导天线接口安装于所述传感器安装支架组中的任意两个支架之间，所述组合惯导天线接口用于安装组合惯导天线。The sensor integrated installation device according to claim 1, characterized in that it also includes at least one combined inertial navigation antenna interface, the combined inertial navigation antenna interface is installed between any two brackets in the sensor mounting bracket group, The combined inertial navigation antenna interface is used to install the combined inertial navigation antenna.
  9. 根据权利要求1所述的传感器集成安装装置，其特征在于，所述装置还包括至少一个加强杆，所述加强杆设置在所述集成安装板的不同于连接所述传感器安装支架组的一面，所述加强杆用于与车身连接。The sensor integrated installation device according to claim 1, characterized in that, the device further comprises at least one reinforcing rod, and the reinforcing rod is arranged on the side of the integrated mounting plate that is different from the side connected to the sensor mounting bracket group, The reinforcing rod is used for connecting with the vehicle body.
  10. 一种车辆，其特征在于，包括如权利要求1-9中任意一项所述的传感器集成安装装置。A vehicle, characterized by comprising the sensor integrated installation device according to any one of claims 1-9.
PCT/CN2022/078619 2022-01-27 2022-03-01 Sensor integration and mounting device, and vehicle WO2023142216A1 (en)

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