WO2023273256A1 - 车载视觉采集模组及其清洁装置、无人车 - Google Patents

车载视觉采集模组及其清洁装置、无人车 Download PDF

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Publication number
WO2023273256A1
WO2023273256A1 PCT/CN2021/142084 CN2021142084W WO2023273256A1 WO 2023273256 A1 WO2023273256 A1 WO 2023273256A1 CN 2021142084 W CN2021142084 W CN 2021142084W WO 2023273256 A1 WO2023273256 A1 WO 2023273256A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
light
acquisition module
transmitting
mounted vision
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PCT/CN2021/142084
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English (en)
French (fr)
Inventor
宁柯军
Original Assignee
北京三快在线科技有限公司
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Publication date
Priority claimed from CN202110729749.XA external-priority patent/CN113370938A/zh
Priority claimed from CN202121463179.6U external-priority patent/CN215204810U/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 WO2023273256A1 publication Critical patent/WO2023273256A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B17/00—Methods preventing fouling
    • B08B17/02—Preventing deposition of fouling or of dust
    • 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 disclosure relates to the technical field of vehicle-mounted vision acquisition components, and in particular, relates to a vehicle-mounted vision acquisition module, a cleaning device thereof, and an unmanned vehicle.
  • the outside of a vehicle such as an unmanned vehicle or a passenger car with an unmanned driving assistance system requires multiple vehicle-mounted vision acquisition components, such as cameras, which are used to perceive and monitor the external environment of the vehicle, and Generate control decisions, and then provide a reference for the driving of the vehicle.
  • vehicle-mounted vision acquisition components are installed on the outside of the vehicle, an installation cover is usually set up to collectively install and protect multiple vehicle-mounted vision acquisition components. The distortion problem will seriously affect the processing results of computer vision, which will lead to errors in vehicle control.
  • the purpose of this disclosure is to provide a vehicle-mounted vision acquisition module, its cleaning device, and an unmanned vehicle.
  • the vehicle-mounted vision acquisition module has a simple structure, low cost, and stable transmission, so as to partially solve the above-mentioned problems in related technologies.
  • the present disclosure provides a cleaning device for a vehicle-mounted vision collection module, including a stator base, a light-transmitting housing, a driving device, and a belt transmission device.
  • the light-transmitting housing is rotatably mounted on the stator on the base, and is used to cover the vehicle-mounted vision acquisition component
  • the driving device is arranged on the stator base and is located outside the light-transmitting housing, and the input end of the belt transmission device is connected to the driving device , the output end of the belt transmission device is connected to the light-transmitting housing, and the driving device drives the light-transmitting housing to rotate through the belt transmission device.
  • the belt transmission device includes a first pulley, a second pulley and a transmission belt, the first pulley is fixed on the transparent housing, and is coaxial with the rotation axis of the transparent housing. Shaft arrangement, the second pulley is fixed at the output end of the driving device, the rotation axes of the first pulley and the second pulley are arranged in parallel, and the transmission belt is sleeved on the first pulley and the second pulley. On the second pulley.
  • the stator base includes a base plate, a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are arranged at intervals on the same side of the base plate, and the first mounting portion uses For installing the transparent housing, the second installation part is used for installing the driving device.
  • the first mounting part includes a bracket part and a shaft part, one end of the shaft part is fixed on the substrate, the bracket part is fixed at the other end of the shaft part, and the bracket part is configured as Plate-shaped, and the bracket part and the shaft part are arranged in dislocation, so as to jointly enclose the space for installing the vehicle-mounted vision collection component together with the shaft part, and the light-transmitting housing is rotatably sleeved on the The rotating shaft part, and the bracket part is covered inside it.
  • the light-transmitting housing includes a light-transmitting cavity and an installation cavity, the light-transmitting cavity is used for accommodating the bracket part and the vehicle-mounted vision acquisition assembly, and a bearing is arranged in the installation cavity, The light-transmitting housing is rotatably mounted on the shaft through the bearing, and the belt transmission device is connected to the outer surface of the installation cavity.
  • a wire passing hole is formed on the rotating shaft part, the wire passing hole penetrates through the rotating shaft part along the axis of the rotating shaft part, and a through hole corresponding to the wire passing hole is provided on the substrate, Both the wire passing hole and the through hole are used for accommodating the wiring harness of the vehicle-mounted vision acquisition component.
  • the second installation part includes an L-shaped support part and a mounting table, the support part is fixed to the substrate, the mounting table is connected to the support part and arranged parallel to the substrate, An avoidance hole is formed on the installation platform, the driving device is arranged on the outer surface of the installation platform, and the output end of the driving device passes through the avoidance hole and is located on the inner surface of the installation platform.
  • the cleaning device further includes a scraper, the scraper is arranged on the outside of the transparent housing, one side of the scraper is attached to the transparent housing and The transparent housing can move relative to the outer surface of the transparent housing when it rotates.
  • the scrapers are arranged at intervals on the front side of the light-transmitting housing to form a window to avoid collecting the visual range, and the light-transmitting housing abuts against the The edge of the window.
  • Another aspect of the present disclosure also provides a vehicle-mounted vision collection module, including a vehicle-mounted vision collection component and the above-mentioned active cleaning device of the vehicle-mounted vision collection module.
  • Another aspect of the present disclosure also provides an unmanned vehicle, which includes the vehicle-mounted vision acquisition module as described above.
  • the cleaning device of the vehicle-mounted vision acquisition module in the embodiment of the present disclosure is rotatably installed on the stator base by the light-transmitting shell, and driven to rotate by the driving device.
  • the light-transmitting shell , the water droplets, floating dust and other dirt attached to the outer surface will break away from the light-transmitting shell under the action of centrifugal force, so as to achieve the effect of cleaning the outer surface of the light-transmitting shell.
  • the transmission between the light-transmitting housing and the driving device is carried out by a belt transmission device.
  • the structure of the belt transmission device is relatively simple, the cost is low, and it can absorb part of the vibration energy during the transmission, which can reduce the vibration caused by the transmission. , so that the light-transmitting shell rotates more smoothly; the belt drive also has the advantages of remote transmission, for example, the distance between the drive device and the light-transmitting shell can be adjusted according to the external installation environment without increasing the structure of the belt drive Complexity.
  • Fig. 1 is a structural side view of a vehicle-mounted vision acquisition module in an embodiment of the disclosure
  • Fig. 2 is a structural top view of the vehicle-mounted vision acquisition module in an embodiment of the disclosure.
  • Stator base 11. Base plate; 12. First installation part; 121. Bracket part; 122. Shaft part; 123. Cable hole; 13. Second installation part; 131. Support part; 2. Light-transmitting shell; 21. Light-transmitting cavity; 22. Installation cavity; 23. Bearing; 3. Driving device; 4. Belt transmission device; 41. First pulley; 42. Second pulley; 43 . Transmission belt; 5. Scratch piece; 51. External support piece; 6. Vehicle vision acquisition component.
  • An embodiment of the present disclosure provides a cleaning device for a vehicle-mounted vision acquisition module, wherein the vehicle-mounted vision acquisition module includes a vehicle-mounted vision acquisition component 6, and the vehicle-mounted vision acquisition component 6 refers to a device capable of collecting and storing images, such as a camera, radar , infrared instrument, laser sensor and other devices, the active cleaning device of the vehicle vision acquisition module is mainly used to install and integrate the vehicle vision acquisition module 6 device.
  • the cleaning device of the vehicle-mounted vision acquisition module in the embodiment of the present disclosure includes a stator base 1, a light-transmitting housing 2, a driving device 3 and a belt transmission device 4, and the light-transmitting housing 2 can be It is rotatably installed on the stator base 1, and is used to cover the vehicle-mounted vision acquisition component 6.
  • the driving device 3 is arranged on the stator base 1 and is located outside the light-transmitting housing 2.
  • the input end of the belt transmission device 4 and the driving device 3, the output end of the belt transmission device 4 is connected with the light-transmitting housing 2, and the driving device 3 drives the light-transmitting housing 2 to rotate through the belt transmission device 4.
  • the cleaning device of the vehicle-mounted vision collection module in the embodiment of the present disclosure installs the light-transmitting housing 2 on the stator base 1 rotatably, and drives the rotation through the driving device 3.
  • the light-transmitting housing 2 During the rotation process, water droplets, floating dust and other dirt attached to the outer surface will break away from the light-transmitting housing 2 under the action of centrifugal force, thereby achieving the effect of cleaning the outer surface of the light-transmitting housing 2 .
  • the transmission between the light-transmitting housing 2 and the driving device 3 is carried out by a belt transmission device 4.
  • the structure of the belt transmission device 4 is relatively simple, the cost is low, and it can absorb part of the vibration energy during transmission, which can reduce the transmission speed.
  • the vibration caused by the light-transmitting shell 2 makes the rotation of the light-transmitting shell 2 more stable; the belt transmission device 4 also has the advantage of remote transmission, for example, the distance between the driving device 3 and the light-transmitting shell 2 can be adaptively adjusted according to the external installation environment, and The structural complexity of the belt transmission device 4 will not be increased.
  • the belt transmission device 4 can be any form of transmission device.
  • a belt transmission device 4 with a relatively simple structure is used as an example.
  • the belt transmission device 4 includes a first belt Wheel 41, second pulley 42 and drive belt 43, the first pulley 41 is fixed on the light-transmitting housing 2, and is coaxially arranged with the rotation axis of the light-transmitting housing 2, and the second pulley 42 is fixed on the driving device 3
  • the output end of the first pulley 41 and the rotation axis of the second pulley 42 are arranged in parallel, and the transmission belt 43 is sleeved on the first pulley 41 and the second pulley 42 .
  • the torque at the output end of the driving device 3 can be transmitted to the first pulley 41 through the transmission belt 43, and the first pulley 41 drives the light-transmitting housing 2 to rotate, thereby causing the dirt attached to the outer surface of the first housing to generate centrifugal force, thereby achieving Cleansing effect.
  • the first pulley 41 is arranged coaxially with the rotation axis of the light-transmitting casing 2, which can avoid the eccentric force of the light-transmitting casing 2 and ensure the stability of its rotation.
  • the first pulley 41 can be formed as a hollow ring, which can be sleeved on the outer surface of the light-transmitting housing 2, or, in other embodiments, the first pulley 41 may also be a solid wheel fixed at the end of the light-transmitting housing 2, which is not limited in the present disclosure.
  • the above-mentioned driving device 3 can drive the light-transmitting shell 2 to rotate at a constant speed; or, the driving device 3 can also drive the light-transmitting shell 2 to change direction and rotate at a constant speed, that is, the light-transmitting shell 2 rotates clockwise and reversely.
  • the rotation of the hour hand is constantly switched, but the rotation speed is constant, so that the centrifugal force on the dirt is continuously reversed, which is beneficial for the dirt to leave the light-transmitting shell 2; or, the driving device 3 can also drive the light-transmitting shell 2 to do constant To change speed or to change speed, that is, during the rotation of the transparent shell 2, the driving device 3 constantly changes the output speed, so that the rotation speed of the transparent shell 2 is constantly changing, and the dirt is quickly separated from the transparent shell 2.
  • the disclosure does not limit the rotation direction and rotation speed of the light-transmitting housing 2 .
  • the driving device 3 may be an actuating device that directly outputs torque such as a motor or a motor, and directly transmits the torque to the light-transmitting housing 2 through the belt transmission device 4 .
  • the stator base 1 includes a base plate 11 , a first mounting portion 12 and a second mounting portion 13 , and the first mounting portion 12 and the second mounting portion 13 are on the same side of the base plate 11 as shown in FIG. The sides are spaced apart, the first installation part 12 is used for installing the light-transmitting housing 2 , and the second installation part 13 is used for installing the driving device 3 .
  • the light-transmitting housing 2 and the driving device 3 can not affect each other during operation, and when one of them fails At the same time, only the faulty one needs to be disassembled or replaced, which reduces the difficulty and cost of maintenance and replacement.
  • the first installation part 12 includes a bracket part 121 and a shaft part 122, one end of the shaft part 122 is fixed on the substrate 11, the bracket part 121 is fixed on the other end of the shaft part 122, and the bracket part 121 is configured as a plate shape, and the bracket part 121 and the shaft part 122 are misplaced to enclose the space for installing the vehicle-mounted vision acquisition assembly 6 together with the shaft part 122.
  • the light-transmitting housing 2 is rotatably sleeved on the shaft part 122, and the bracket part 121 covers are located inside it.
  • the offset arrangement of the bracket portion 121 and the shaft portion 122 means that the bracket portion 121 is arranged offset from the central axis of the shaft portion 122 , and the two are not collinear.
  • the space for accommodating the vehicle-mounted visual components can be made at the end of the rotating shaft portion 122 , so that the space inside the light-transmitting housing 2 can be more rationally utilized.
  • the light-transmitting housing 2 includes a light-transmitting cavity 21 and an installation cavity 22 , the light-transmitting cavity 21 is used to accommodate the bracket part 121 and the vehicle-mounted vision collection component 6 , and the installation cavity 22 A bearing 23 is provided, and the light-transmitting housing 2 is rotatably mounted on the shaft part 122 through the bearing 23 , and the belt transmission device 4 is connected to the outer surface of the installation cavity 22 .
  • the light-transmitting housing 2 is made into two cavities to prevent the parts in the two cavities from influencing each other and reduce the failure rate.
  • the belt transmission device 4 can be formed as a hollow ring, and is fixed on the outer surface of the installation cavity 22, like this, after the driving device 3 actuates the belt transmission device 4, the belt transmission device 4 can drive the installation cavity 22 to rotate, Thus, the transparent cavity 21 is driven to rotate.
  • the light-transmitting cavity 21 and the installation cavity 22 may be integrally formed of materials such as glass and light-transmitting plastic, or may be formed of different materials, which is not limited in the present disclosure.
  • the light-transmitting cavity 21 is made of a light-transmitting material to allow the vehicle-mounted vision collection component 6 to collect external environmental information through it
  • the installation cavity 22 can be made of a light-transmitting material, or can be made of a non-light-transmitting material Made, the present disclosure is not limited to this.
  • both the installation cavity 22 and the light-transmitting cavity 21 can be formed in a cylindrical shape, and the diameter of the light-transmitting cavity 21 can be larger than the diameter of the installation cavity 22, which can An installation space is reserved for the belt drive 4 outside the installation cavity 22 .
  • a wire passing hole 123 is formed on the rotating shaft part 122, and the wire passing hole 123 penetrates through the rotating shaft part 122 along the axis of the rotating shaft part 122, and a through hole corresponding to the wire passing hole 123 is provided on the substrate 11, and the wire passing hole Both the hole 123 and the through hole are used for accommodating the wiring harness of the vehicle-mounted vision acquisition component 6 .
  • the wire harness of the on-vehicle vision acquisition component 6 enters the interior of the light-transmitting housing 2 through the wire-passing hole 123 , preventing the rotation of the light-transmitting housing 2 from affecting the wire harness and providing protection for the wire harness.
  • the wiring harness may be a power line of the vehicle-mounted vision acquisition component 6, or may be a signal line, etc., which is not limited in the present disclosure.
  • the second mounting part 13 is mainly used for mounting the driving device 3, and its configuration can be adaptively designed according to the driving device 3.
  • the second mounting part 13 includes a structure configured as L-shaped support portion 131 and mounting table 132, the supporting portion 131 is fixed to the base plate 11, the mounting table 132 is connected to the support portion 131 and arranged parallel to the base plate 11, an escape hole is formed on the mounting table 132, and the driving device 3 is arranged on the mounting table 132 , the output end of the driving device 3 passes through the avoidance hole and is located on the inner side of the mounting table 132 .
  • the support portion 131, the mounting table 132 and the base plate 11 surround a certain limited space on three sides, and the mounting table 132 is provided with an avoidance hole to avoid the output end of the driving device 3, like this,
  • the output end of the driving device 3 can extend into the limited space, so that the belt transmission device 4 can be installed in the limited space, and the belt transmission device 4 can be protected to a certain extent by the second installation part 13 and the base.
  • this arrangement can make the output end of the driving device 3 closer to the installation cavity 22 of the light-transmitting housing 2, which facilitates the installation of the belt transmission device 4 and makes the space layout more reasonable.
  • the cleaning device further includes a scraper 5, the scraper 5 is arranged on the outside of the light-transmitting housing 2, and one side of the scraping member 5 is attached to the light-transmitting housing 2 and can move relative to the outer surface of the transparent housing 2 when the transparent housing 2 rotates.
  • the dirt can be thrown out not only by rotating the light-transmitting housing 2 through centrifugal force, but also by the relative movement between the scraper 5 and the light-transmitting housing 2. Scratch the light-transmitting case 2 to clean it.
  • the above-mentioned scraping member 5 may be provided with soft scraping structures such as rags and rubber.
  • the scraping structure can make the transparent casing 2 clean more thoroughly without scratching the transparent casing 2 .
  • FIG. 1 there are two scraping members 5, and the scraping members 5 are arranged at intervals on the front side of the light-transmitting housing 2 to form a window to avoid collecting the visual range,
  • the transparent housing 2 abuts against the edge of the window.
  • the visual collection range refers to the range of angles that the visual collection component can touch and shoot.
  • the scraper 5 can be set outside the visual collection range to avoid affecting the shooting range of the visual collection component.
  • the front side of the light-transmitting housing 2 refers to the collection direction of the vehicle-mounted vision collection component 6 .
  • the eyelids of animals that can be imitated are fixedly arranged on the front side of the light-transmitting housing 2.
  • the driving device 3 drives the light-transmitting housing 2 to rotate, the light-transmitting housing 2 passes through the two scrapers.
  • the wiper 5 realizes cleaning, which can greatly improve the cleaning effect.
  • the above-mentioned scraper 5 may be arranged on an external support 51, where the external support 51 may be a body shell or other external components, or may also be a specially designed support. 51 is provided with a window, and the scraper 5 is respectively arranged on the edge of the window.
  • the installation position of the stator base 1 enables the light-transmitting housing 2 to abut against the scraper 5, and when the light-transmitting housing 2 rotates, it can Relatively moving with the scraper 5 to achieve cleaning effect.
  • the vehicle-mounted vision acquisition module includes a vehicle-mounted vision acquisition module 6 and the active type cleaning device.
  • the active cleaning device of the vehicle-mounted vision acquisition module has a good cleaning effect, and the vehicle-mounted vision module has a simple structure and low cost.
  • Another embodiment of the present disclosure also provides an unmanned vehicle, which includes the vehicle-mounted vision acquisition module as described above.

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Abstract

一种车载视觉采集模组及其清洁装置、无人车，其中车载视觉采集模组的清洁装置包括定子基座（1）、透光壳体（2）、驱动装置（3）和带传动装置（4），所述透光壳体（2）可转动地安装在所述定子基座（1）上，并用于罩设车载视觉采集组件（6），所述驱动装置（3）设置在所述定子基座（1）上且位于所述透光壳体（2）的外侧，所述带传动装置（4）的输入端与所述驱动装置（3）相连，所述带传动装置（4）的输出端与所述透光壳体（2）相连，所述驱动装置（3）通过所述带传动装置（4）驱动所述透光壳体（2）转动。带传动装置（4）结构相对简单，成本低，且在传动中自身能够吸收一部分震动能量，能够减小传动中引起的震动，使得透光壳体（2）转动更平稳。

Description

车载视觉采集模组及其清洁装置、无人车
本申请要求在2021年6月29日提交中国专利局的申请号为202110729749.X、发明名称为“车载视觉采集模组及其清洁装置、无人车”以及申请号为202121463179.6、实用新型名称为“车载视觉采集模组及其清洁装置、无人车”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
本公开涉及车载视觉采集组件的技术领域，具体地，涉及一种车载视觉采集模组及其清洁装置、无人车。
背景技术
通常，诸如无人车、或具有无人驾驶辅助系统的乘用车等车辆的外侧需要多个车载视觉采集组件，例如摄像头等，该车载视觉采集组件用于感知和监测车辆的外界环境，并产生控制决策，进而为车辆的行驶提供参考。由于车载视觉采集组件设置在车辆的外侧，通常会设置安装罩用于集中安装和保护多个车载视觉采集组件，但安装罩暴露在外界中容易吸附浮尘、雨水等污物，会引起感光及图像畸变问题，会严重影响计算机视觉的处理结果，进而导致车辆控制出错。为了保证车载视觉采集组件的采集效果，近年来，部分具备高级驾驶辅助系统(Advanced Driving Assistance System)功能的高档车，开始重视车载视觉采集组件的自清洁问题，具体有喷水、喷气、微型雨刮器等技术来清洁车载视觉采集组件的污物/挂水问题。喷水、喷气方案效果虽好，但涉及水泵、管路设计，实施及日常维护相对复杂，要求高；微型雨刮器涉及执行机构复杂性及零部件寿命问题，整体成本高。
发明内容
本公开的目的是提供一种车载视觉采集模组及其清洁装置、无人车，该车载视觉采集组件结构简单，成本低，且传动平稳，以部分地解决相关技术中存在的上述问题。
为了实现上述目的，本公开提供一种车载视觉采集模组的清洁装置，包 括定子基座、透光壳体、驱动装置和带传动装置，所述透光壳体可转动地安装在所述定子基座上，并用于罩设车载视觉采集组件，所述驱动装置设置在所述定子基座上且位于所述透光壳体的外侧，所述带传动装置的输入端与所述驱动装置相连，所述带传动装置的输出端与所述透光壳体相连，所述驱动装置通过所述带传动装置驱动所述透光壳体转动。
可选地，所述带传动装置包括第一带轮、第二带轮和传动带，所述第一带轮固定在所述透光壳体上，并且与所述透光壳体的旋转轴同轴布置，所述第二带轮固定在所述驱动装置的输出端，所述第一带轮和所述第二带轮的旋转轴线平行设置，所述传动带套设在第一带轮和第二带轮上。
可选地，所述定子基座包括基板、第一安装部和第二安装部，所述第一安装部和第二安装部在所述基板的同侧间隔布置，所述第一安装部用于安装所述透光壳体，所述第二安装部用于安装所述驱动装置。
可选地，所述第一安装部包括支架部和转轴部，所述转轴部的一端固定在所述基板上，所述支架部固定在所述转轴部的另一端，所述支架部构造为板状，且所述支架部与所述转轴部错位布置，以与所述转轴部共同围合出安装所述车载视觉采集组件的空间，所述透光壳体可转动地套设在所述转轴部，并将所述支架部罩设在其内部。
可选地，所述透光壳体包括透光腔体和安装腔体，所述透光腔体用于容纳所述支架部和所述车载视觉采集组件，所述安装腔体内设置有轴承，所述透光壳体通过所述轴承可转动地安装在所述转轴部，所述带传动装置与所述安装腔体的外表面相连。
可选地，所述转轴部上形成有过线孔，所述过线孔沿所述转轴部的轴线贯穿所述转轴部，所述基板上设置有与所述过线孔对应的通孔，所述过线孔和所述通孔均用于容纳所述车载视觉采集组件的线束。
可选地，所述第二安装部包括构造为L型的支撑部和安装台，所述支撑部与所述基板固定，所述安装台与所述支撑部相连且与所述基板平行布置，所述安装台上形成有避让孔，所述驱动装置布置在所述安装台的外侧面，所述驱动装置的输出端穿过所述避让孔并位于所述安装台的内侧面。
可选地，所述清洁装置还包括刮擦件，所述刮擦件设置在所述透光壳体的外侧，所述刮擦件的一侧贴附于所述透光壳体且在所述透光壳体转动时能够相对于所述透光壳体的外表面移动。
可选地，所述刮擦件为两个，并且所述刮擦件间隔设置在所述透光壳体 的前侧，以形成避让采集视觉范围的窗口，所述透光壳体抵接在所述窗口的边缘。
本公开的另一方面还提供一种车载视觉采集模组，包括车载视觉采集组件和如上所述的车载视觉采集模组的主动式清洁装置。
本公开的又一方面还提供一种无人车，所述无人车包括如上所述的车载视觉采集模组。
通过上述技术方案，本公开实施例中的车载视觉采集模组的清洁装置通过将透光壳体可转动地安装到定子基座上，并通过驱动装置驱动转动，透光壳体在转动过程中，其外表面附着的水滴、浮尘等污物会在离心力的作用下脱离透光壳体，从而达到清洁透光壳体外表面的作用。并且，另外，该透光壳体和驱动装置之间通过带传动装置来传动，带传动装置结构相对简单，成本低，且在传动中自身能够吸收一部分震动能量，能够减小传动中引起的震动，使得透光壳体转动更平稳；带传动装置还具有远程传动的优点，例如可以根据外部安装环境适应性调整驱动装置和透光壳体之间的间距，而不会增加带传动装置的结构复杂程度。
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公开的进一步理解，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公开，但并不构成对本公开的限制。在附图中：
图1是本公开实施例中的车载视觉采集模组的结构侧视图；
图2是本公开实施例中的车载视觉采集模组的结构俯视图。
附图标记说明
1、定子基座；11、基板；12、第一安装部；121、支架部；122、转轴部；123、过线孔；13、第二安装部；131、支撑部；132、安装台；2、透光壳体；21、透光腔体；22、安装腔体；23、轴承；3、驱动装置；4、带传动装置；41、第一带轮；42、第二带轮；43、传动带；5、刮擦件；51、外部支撑件；6、车载视觉采集组件。
具体实施方式
以下结合附图对本公开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公开，并不用于限制本公开。
在本公开中，在未作相反说明的情况下，使用的方位词如使用的方位词如“内、外”是指相对于部件或结构本身轮廓的“内、外”。此外，需要说明的是，所使用的术语如“第一”“第二”等是为了区别一个要素和另一个要素，不具有顺序性和重要性。另外，在参考附图的描述中，不同附图中的同一标记表示相同的要素。
本公开实施例提供一种车载视觉采集模组的清洁装置，其中，该车载视觉采集模组包括车载视觉采集组件6，车载视觉采集组件6是指能够采集并存储图像的装置，例如摄像头、雷达、红外仪、激光传感器等装置，车载视觉采集模组的主动式清洁装置主要是用于安装并整合车载视觉采集组件6的装置。如图1和图2所示，本公开实施例中的车载视觉采集模组的清洁装置包括定子基座1、透光壳体2、驱动装置3和带传动装置4，透光壳体2可转动地安装在定子基座1上，并用于罩设车载视觉采集组件6，驱动装置3设置在定子基座1上且位于透光壳体2的外侧，带传动装置4的输入端与驱动装置3相连，带传动装置4的输出端与透光壳体2相连，驱动装置3通过带传动装置4驱动透光壳体2转动。
通过上述技术方案，本公开实施例中的车载视觉采集模组的清洁装置通过将透光壳体2可转动地安装到定子基座1上，并通过驱动装置3驱动转动，透光壳体2在转动过程中，其外表面附着的水滴、浮尘等污物会在离心力的作用下脱离透光壳体2，从而达到清洁透光壳体2外表面的作用。并且，另外，该透光壳体2和驱动装置3之间通过带传动装置4来传动，带传动装置4结构相对简单，成本低，且在传动中自身能够吸收一部分震动能量，能够减小传动中引起的震动，使得透光壳体2转动更平稳；带传动装置4还具有远程传动的优点，例如可以根据外部安装环境适应性调整驱动装置3和透光壳体2之间的间距，而不会增加带传动装置4的结构复杂程度。
在本公开的实施例中，带传动装置4可以为任意形式的传动装置，这里示例性的以结构相对简单的带传动装置4为例，如图2所示，带传动装置4包括第一带轮41、第二带轮42和传动带43，第一带轮41固定在透光壳体2上，并且与透光壳体2的旋转轴同轴布置，第二带轮42固定在驱动装置3的输出端，第一带轮41和第二带轮42的旋转轴线平行设置，传动带43套设在第一带轮41和第二带轮42上。这样，驱动装置3的输出端的扭矩通过传动带43能够传递给第一带轮41，第一带轮41带动透光壳体2转动，从而 使第一壳体外表面附着的污物产生离心力，从而达到清洁的效果。其中，第一带轮41与透光壳体2的旋转轴同轴布置，可以避免透光壳体2产生偏心力，保证其转动的稳定性。
可选地，在本公开的实施方式中，第一带轮41可以形成为空心环状，其可以套设在透光壳体2的外表面，或者，在其他实施方式中，第一带轮41也可以为固定在透光壳体2的端部的实心轮，本公开对此不作限制。
上述驱动装置3可以驱动透光壳体2做恒向恒速转动；或者，驱动装置3也可以驱动透光壳体2做变向恒速转动，即透光壳体2在顺时针旋转和逆时针旋转之间不断切换，但转速不变，这样使得污物所受的离心力不断换向，有利于污物脱离透光壳体2；或者，驱动装置3还可以驱动透光壳体2做恒向变速或变向变速转动，即在透光壳体2转动的过程中，驱动装置3不断改变输出转速，以使透光壳体2的转动速度不断变化，促进污物快速脱离透光壳体2。本公开对透光壳体2的转动方向和转动速度不作限制。
在本公开的一种实施例中，上述驱动装置3可以是电机、马达等直接输出扭矩的致动装置，并通过带传动装置4直接将扭矩传递给透光壳体2。
继续如图2所示，在本公开实施例中，定子基座1包括基板11、第一安装部12和第二安装部13，第一安装部12和第二安装部13在基板11的同侧间隔布置，第一安装部12用于安装透光壳体2，第二安装部13用于安装驱动装置3。通过在定子基座1上设置两个安装部，分别安装透光壳体2和驱动装置3，能够使得透光壳体2和驱动装置3在工作时互不影响，且当其中一者出现故障时，只需拆装或更换故障的一方，降低了维修和更换的难度和成本。
下面将结合附图2详细描述第一安装部12和第二安装部13的示例性实施方式。在本公开实施例中，第一安装部12包括支架部121和转轴部122，转轴部122的一端固定在基板11上，支架部121固定在转轴部122的另一端，支架部121构造为板状，且支架部121与转轴部122错位布置，以与转轴部122共同围合出安装车载视觉采集组件6的空间，透光壳体2可转动地套设在转轴部122，并将支架部121罩设在其内部。这里支架部121和转轴部122错位布置是指支架部121错开转轴部122的中心轴线布置，两者不共线。通过错位布置的设置，可以在转轴部122的端部让位出容纳车载视觉组件的空间，从而更合理地利用透光壳体2内部的空间。
在本公开的一种实施方式中，透光壳体2包括透光腔体21和安装腔体 22，透光腔体21用于容纳支架部121和车载视觉采集组件6，安装腔体22内设置有轴承23，透光壳体2通过轴承23可转动地安装在转轴部122，带传动装置4与安装腔体22的外表面相连。将透光壳体2氛围两个腔体，防止两个腔体内的零部件相互影响，降低故障率。其中，带传动装置4可以形成为空心环状，且固定在安装腔体22的外表面，这样，驱动装置3在致动带传动装置4后，带传动装置4可以带动安装腔体22转动，从而带动透光腔体21转动。
应理解的是，透光腔体21和安装腔体22可以由玻璃、透光塑料等材料一体成型，也可以由不同材料成型，本公开对此不作限制。示例地，透光腔体21由透光材料制成，以允许车载视觉采集组件6透过其采集外部环境信息，而安装腔体22可以由透光材料制成，也可以由非透光材料制成，本公开对此不作限制。
在本公开的一种可选地实施方式中，安装腔体22和透光腔体21均可以形成为圆筒状，且透光腔体21的直径可以大于安装腔体22的直径，这样可以为安装腔体22外部的带传动装置4留出安装空间。
在本公开实施例中，转轴部122上形成有过线孔123，过线孔123沿转轴部122的轴线贯穿转轴部122，基板11上设置有与过线孔123对应的通孔，过线孔123和通孔均用于容纳车载视觉采集组件6的线束。这样，车载视觉采集组件6的线束从过线孔123中进入到透光壳体2的内部，避免透光壳体2的转动影响线束，且可以为线束提供保护。其中，该线束可以是车载视觉采集组件6的电源线，也可以是信号线等，本公开对此不作限制。
继续参照图2所示，第二安装部13主要用于安装驱动装置3，其构型可以根据驱动装置3适应性设计，在本公开的一种实施方式中，第二安装部13包括构造为L型的支撑部131和安装台132，支撑部131与基板11固定，安装台132与支撑部131相连且与基板11平行布置，安装台132上形成有避让孔，驱动装置3布置在安装台132的外侧面，驱动装置3的输出端穿过避让孔并位于安装台132的内侧面。根据第二安装部13的结构特征，支撑部131、安装台132和基板11三面围合出一定的限定空间，并且安装台132上设置由避让孔，以避让驱动装置3的输出端，这样，驱动装置3的输出端能够伸入到该限定空间中，这样，可以在该限定空间中安装带传动装置4，通过第二安装部13和基座能够对带传动装置4提供一定的保护作用。且该布置方式能够让驱动装置3的输出端更靠近透光壳体2的安装腔体22，便于 安装带传动装置4，使得空间布局更合理。
如图1所示，在本公开实施例中，清洁装置还包括刮擦件5，刮擦件5设置在透光壳体2的外侧，刮擦件5的一侧贴附于透光壳体2且在透光壳体2转动时能够相对于透光壳体2的外表面移动。这样，在需要清洁透光壳体2时，不仅可以仅通过旋转透光壳体2以通过离心力将污物甩出，还可以通过刮擦件5与透光壳体2之间的相对运动来刮擦透光壳体2，使其清洁。
可选地，上述刮擦件5可以设置有抹布、橡胶等软质的刮擦结构，这些刮擦结构在刮擦件5处于刮擦位置时贴合于透光壳体2的表面，软质的刮擦结构能够使透光壳体2清洁更彻底且不会刮伤透光壳体2。
在本公开的一种实施方式中，如图1所示，刮擦件5为两个，并且刮擦件5间隔设置在透光壳体2的前侧，以形成避让采集视觉范围的窗口，透光壳体2抵接在窗口的边缘。该采集视觉范围是指视觉采集组件所能涉及、拍摄的角度范围，该刮擦件5可以设置在采集视觉范围之外，避免影响视觉采集组件的拍摄范围。透光壳体2的前侧是指车载视觉采集组件6的采集方向。
通过设置两个刮擦件5，可以模拟动物的眼睑固定布置在透光壳体2的前侧，这样，当驱动装置3驱动透光壳体2转动时，透光壳体2通过两个刮擦件5实现清洁，能够很大程度上提高清洁效果。
在本公开实施例中，上述刮擦件5可是设置在外部支撑件51上，这里外部支撑件51可以是车身壳体或其他外部构件，或者也可以是专门设计的支撑件，该外部支撑件51上开设有窗口，刮擦件5分别设置在该窗口的边缘，定子基座1的安装位置使得透光壳体2能够抵接在刮擦件5上，当透光壳体2转动时可以与刮擦件5相对运动而实现清洁效果。
本公开的另一实施例还提供一种车载视觉采集模组，如图1和图2所示，该车载视觉采集模组包括车载视觉采集组件6和如上所述的车载视觉采集模组的主动式清洁装置。该车载视觉采集模组的主动式清洁装置清洁效果好，且该车载视觉模组结构简单，成本低廉。
本公开的又一实施例还提供一种无人车，该无人车包括如上所述的车载视觉采集模组。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
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，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (11)

  1. 一种车载视觉采集模组的清洁装置，其特征在于，包括定子基座(1)、透光壳体(2)、驱动装置(3)和带传动装置(4)，所述透光壳体(2)可转动地安装在所述定子基座(1)上，并用于罩设车载视觉采集组件(6)，所述驱动装置(3)设置在所述定子基座(1)上且位于所述透光壳体(2)的外侧，所述带传动装置(4)的输入端与所述驱动装置(3)相连，所述带传动装置(4)的输出端与所述透光壳体(2)相连，所述驱动装置(3)通过所述带传动装置(4)驱动所述透光壳体(2)转动。
  2. 根据权利要求1所述的车载视觉采集模组的清洁装置，其特征在于，所述带传动装置(4)包括第一带轮(41)、第二带轮(42)和传动带(43)，所述第一带轮(41)固定在所述透光壳体(2)上，并且与所述透光壳体(2)的旋转轴同轴布置，所述第二带轮(42)固定在所述驱动装置(3)的输出端，所述第一带轮(41)和所述第二带轮(42)的旋转轴线平行设置，所述传动带(43)套设在第一带轮(41)和第二带轮(42)上。
  3. 根据权利要求1所述的车载视觉采集模组的清洁装置，其特征在于，所述定子基座(1)包括基板(11)、第一安装部(12)和第二安装部(13)，所述第一安装部(12)和第二安装部(13)在所述基板(11)的同侧间隔布置，所述第一安装部(12)用于安装所述透光壳体(2)，所述第二安装部(13)用于安装所述驱动装置(3)。
  4. 根据权利要求3所述的车载视觉采集模组的清洁装置，其特征在于，所述第一安装部(12)包括支架部(121)和转轴部(122)，所述转轴部(122)的一端固定在所述基板(11)上，所述支架部(121)固定在所述转轴部(122)的另一端，所述支架部(121)构造为板状，且所述支架部(121)与所述转轴部(122)错位布置，以与所述转轴部(122)共同围合出安装所述车载视觉采集组件(6)的空间，所述透光壳体(2)可转动地套设在所述转轴部(122)，并将所述支架部(121)罩设在其内部。
  5. 根据权利要求4所述的车载视觉采集模组的清洁装置，其特征在于，所述透光壳体(2)包括透光腔体(21)和安装腔体(22)，所述透光腔体(21)用于容纳所述支架部(121)和所述车载视觉采集组件(6)，所述安装腔体(22)内设置有轴承(23)，所述透光壳体(2)通过所述轴承(23)可转动地安装在所述转轴部(122)，所述带传动装置(4)与所述安装腔体 (22)的外表面相连。
  6. 根据权利要求5所述的车载视觉采集模组的清洁装置，其特征在于，所述转轴部(122)上形成有过线孔(123)，所述过线孔(123)沿所述转轴部(122)的轴线贯穿所述转轴部(122)，所述基板(11)上设置有与所述过线孔(123)对应的通孔，所述过线孔(123)和所述通孔均用于容纳所述车载视觉采集组件(6)的线束。
  7. 根据权利要求3所述的车载视觉采集模组的清洁装置，其特征在于，所述第二安装部(13)包括构造为L型的支撑部(131)和安装台(132)，所述支撑部(131)与所述基板(11)固定，所述安装台(132)与所述支撑部(131)相连且与所述基板(11)平行布置，所述安装台(132)上形成有避让孔，所述驱动装置(3)布置在所述安装台(132)的外侧面，所述驱动装置(3)的输出端穿过所述避让孔并位于所述安装台(132)的内侧面。
  8. 根据权利要求1所述的车载视觉采集模组的清洁装置，其特征在于，所述清洁装置还包括刮擦件(5)，所述刮擦件(5)设置在所述透光壳体(2)的外侧，所述刮擦件(5)的一侧贴附于所述透光壳体(2)且在所述透光壳体(2)转动时能够相对于所述透光壳体(2)的外表面移动。
  9. 根据权利要求8所述的车载视觉采集模组的清洁装置，其特征在于，所述刮擦件(5)为两个，并且所述刮擦件(5)间隔设置在所述透光壳体(2)的前侧，以形成避让采集视觉范围的窗口，所述透光壳体(2)抵接在所述窗口的边缘。
  10. 一种车载视觉采集模组，其特征在于，包括车载视觉采集组件(6)和如权利要求1-9中任一项所述的车载视觉采集模组的主动式清洁装置。
  11. 一种无人车，其特征在于，所述无人车包括如权利要求10所述的车载视觉采集模组。
PCT/CN2021/142084 2021-06-29 2021-12-28 车载视觉采集模组及其清洁装置、无人车 WO2023273256A1 (zh)

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