技术领域technical field
本申请涉无人驾驶技术领域，具体涉及传感器技术领域，尤其涉及传感器组合装置。The present application relates to the field of unmanned driving technology, specifically to the field of sensor technology, especially to a sensor combination device.
背景技术Background technique
随着无人驾驶技术的不断发展，在复杂的道路结构和拥挤的交通环境下，如何获得车辆行驶范围内的行人、车辆、交通信号灯等环境信息，已经成为影响无人驾驶车辆发展的一项关键技术。同样，如何将各种传感器合理的布置并安装到无人驾驶车辆上，使传感器的各项功能指标发挥到最佳也变得非常重要。With the continuous development of unmanned driving technology, under the complex road structure and congested traffic environment, how to obtain the environmental information such as pedestrians, vehicles and traffic lights within the driving range of the vehicle has become an issue affecting the development of unmanned vehicles. key technologies. Similarly, how to reasonably arrange and install various sensors on unmanned vehicles, so that the various functional indicators of the sensors can be optimized is also very important.
目前，通常是将各个传感器离散的安装在车身上、通过对车辆局部改动来安装传感器，然而，这种安装方式无法保证传感器安装位置的一致性，且当需要对传感器的位置进行改动时，往往需要对车身多处进行局部改装。At present, each sensor is usually discretely installed on the vehicle body, and the sensor is installed by partially modifying the vehicle. However, this installation method cannot guarantee the consistency of the sensor installation position, and when the position of the sensor needs to be changed, often Several local modifications to the body are required.
实用新型内容Utility model content
本申请的目的在于提出一种改进的传感器组合装置，来解决以上背景技术部分提到的技术问题。The purpose of this application is to propose an improved sensor combination device to solve the technical problems mentioned in the background technology section above.
本申请实施例提供了一种传感器组合装置，该装置包括：传感器安装框架和至少一个传感器；传感器安装框架包括：传感器安装底板和至少一个传感器支撑部件，传感器安装底板安装于无人驾驶车辆的顶部，至少一个传感器支撑部件安装于传感器安装底板上，用于支撑至少一个传感器；至少一个传感器包括：全球定位系统天线和/或激光雷达。The embodiment of the present application provides a sensor combination device, which includes: a sensor installation frame and at least one sensor; the sensor installation frame includes: a sensor installation base plate and at least one sensor support component, and the sensor installation base plate is installed on the top of the unmanned vehicle , at least one sensor support component is installed on the sensor installation base plate for supporting at least one sensor; the at least one sensor includes: a global positioning system antenna and/or a laser radar.
在一些实施例中，至少一个传感器还包括摄像头，在以下位置中的至少一个位置上安装有激光雷达和/或摄像头：传感器安装框架上靠近无人驾驶车辆的车头的一端、传感器安装框架上靠近无人驾驶车辆的车尾的一端、传感器安装框架上靠近无人驾驶车辆的车身侧面的两端。In some embodiments, at least one sensor further includes a camera, and the laser radar and/or the camera are installed at least one of the following positions: the end of the sensor mounting frame close to the front of the unmanned vehicle, the sensor mounting frame close to One end of the rear of the unmanned vehicle, and two ends of the sensor mounting frame that are close to the side of the vehicle body of the unmanned vehicle.
在一些实施例中，摄像头包括前视摄像头和环视摄像头，在传感器安装框架上靠近无人驾驶车辆的车头的一端安装有前视摄像头，在以下位置中的至少一个位置上安装有环视摄像头：传感器安装框架上靠近无人驾驶车辆的车头的一端、传感器安装框架上靠近无人驾驶车辆的车尾的一端、传感器安装框架上靠近无人驾驶车辆的车身侧面的两端。In some embodiments, the camera includes a front-view camera and a surround-view camera, and the front-view camera is installed on the sensor mounting frame near the head end of the unmanned vehicle, and the surround-view camera is installed at least one of the following positions: the sensor One end of the installation frame close to the front of the unmanned vehicle, one end of the sensor installation frame close to the rear of the unmanned vehicle, and two ends of the sensor installation frame close to the side of the vehicle body of the unmanned vehicle.
在一些实施例中，在传感器安装框架上靠近无人驾驶车辆的车头的一端安装有至少两个焦距不相同的前视摄像头。In some embodiments, at least two front-view cameras with different focal lengths are installed on the end of the sensor installation frame close to the front of the unmanned vehicle.
在一些实施例中，激光雷达包括64线激光雷达和16线激光雷达，在传感器安装框架的顶部安装有64线激光雷达或16线激光雷达，在以下位置中的至少一个位置上安装有16线激光雷达：传感器安装框架上靠近无人驾驶车辆的车头的一端、传感器安装框架上靠近无人驾驶车辆的车尾的一端、传感器安装框架上靠近无人驾驶车辆的车身侧面的两端。In some embodiments, the lidar includes a 64-line lidar and a 16-line lidar, a 64-line lidar or a 16-line lidar is mounted on the top of the sensor mounting frame, and a 16-line lidar is mounted on at least one of the following positions Lidar: The end of the sensor mounting frame close to the front of the unmanned vehicle, the end of the sensor mounting frame close to the rear of the unmanned vehicle, and the two ends of the sensor mounting frame close to the side of the unmanned vehicle.
在一些实施例中，传感器支撑部件包括以下至少一项：位置可调节支撑部件、角度可调节支撑部件和高度可调节支撑部件。In some embodiments, the sensor support member includes at least one of the following: a position adjustable support member, an angle adjustable support member, and a height adjustable support member.
在一些实施例中，位置可调节支撑部件用于支撑全球定位系统天线，以调节全球定位系统天线的位置，角度可调节支撑部件用于支撑16线激光雷达和/或摄像头，以调节16线激光雷达和/或摄像头的角度，高度可调节支撑部件用于支撑64线激光雷达，以调节64线激光雷达的高度。In some embodiments, the position-adjustable supporting part is used to support the GPS antenna to adjust the position of the GPS antenna, and the angle-adjustable supporting part is used to support the 16-line laser radar and/or camera to adjust the 16-line laser The angle and height of the radar and/or camera can be adjusted. The supporting part is used to support the 64-line lidar to adjust the height of the 64-line lidar.
在一些实施例中，在传感器安装框架的顶部的中心位置安装有64线激光雷达，在以下位置上分别安装有16线激光雷达：传感器安装框架上靠近无人驾驶车辆的车身侧面的两端、传感器安装框架上靠近无人驾驶车辆的车尾的一端，在传感器安装框架上靠近无人驾驶车辆的车头的一端安装有前视摄像头，在以下位置上分别安装有环视摄像头：传感器安装框架上靠近无人驾驶车辆的车头的一端、传感器安装框架上靠近无人驾驶车辆的车尾的一端、传感器安装框架上靠近无人驾驶车辆的车身侧面的两端。In some embodiments, a 64-line laser radar is installed at the center of the top of the sensor mounting frame, and a 16-line laser radar is respectively installed at the following positions: the two ends of the sensor mounting frame close to the side of the vehicle body of the unmanned vehicle, On the end of the sensor installation frame close to the rear of the unmanned vehicle, a front-view camera is installed on the end of the sensor installation frame close to the front of the unmanned vehicle, and surround-view cameras are respectively installed on the following positions: on the sensor installation frame near One end of the front of the unmanned vehicle, one end of the sensor installation frame close to the rear of the unmanned vehicle, and two ends of the sensor installation frame close to the side of the vehicle body of the unmanned vehicle.
在一些实施例中，传感器安装框架还包括：底板支撑部件，底板支撑部件安装于无人驾驶车辆的顶部与传感器安装底板之间，用于支撑传感器安装底板。In some embodiments, the sensor installation frame further includes: a bottom plate support component installed between the top of the unmanned vehicle and the sensor installation bottom plate for supporting the sensor installation bottom plate.
在一些实施例中，传感器安装框架还包括：固定部件，固定部件与无人驾驶车辆的车顶固定连接，用于将传感器安装底板或底板支撑部件固定在无人驾驶车辆的顶部。In some embodiments, the sensor installation frame further includes: a fixing part, which is fixedly connected to the roof of the unmanned vehicle, and is used to fix the sensor installation base or the base support part on the top of the unmanned vehicle.
在一些实施例中，该装置还包括：用于密封传感器安装框架和至少一个传感器的外壳。In some embodiments, the device further includes: a housing for sealing the sensor mounting frame and the at least one sensor.
本申请实施例提供的传感器组合装置，通过将至少一个传感器安装在传感器安装框架上，可以使得各个传感器之间的相对位置关系固定，从而保证了传感器安装位置的一致性。In the sensor combination device provided by the embodiment of the present application, by installing at least one sensor on the sensor installation frame, the relative positional relationship between the sensors can be fixed, thereby ensuring the consistency of the sensor installation positions.
附图说明Description of drawings
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：Other characteristics, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:
图1A示出了本申请的传感器组合装置的一实施例的结构示意图；Figure 1A shows a schematic structural view of an embodiment of the sensor combination device of the present application;
图1B示出了图1A的传感器组合装置中的传感器安装框架的一实施例的结构示意图；Fig. 1B shows a schematic structural view of an embodiment of the sensor mounting frame in the sensor combination device of Fig. 1A;
图2A示出了本申请的传感器组合装置的又一实施例的结构示意图；Figure 2A shows a schematic structural view of another embodiment of the sensor combination device of the present application;
图2B示出了图2A的传感器组合装置中的传感器安装框架的又一实施例的结构示意图。Fig. 2B shows a schematic structural view of another embodiment of the sensor installation frame in the sensor combination device of Fig. 2A.
具体实施方式detailed description
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关实用新型，而非对该实用新型的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关实用新型相关的部分。The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the relevant utility model, rather than to limit the utility model. It should also be noted that, for the convenience of description, only the parts related to the utility model are shown in the drawings.
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
参见图1A，其示出了本申请的传感器组合装置的一实施例的结构示意图。如图1A所示，本实施例中的传感器组合装置可以包括传感器安装框架110和至少一个传感器。Referring to FIG. 1A , it shows a schematic structural diagram of an embodiment of the sensor combination device of the present application. As shown in FIG. 1A , the sensor combination device in this embodiment may include a sensor mounting frame 110 and at least one sensor.
在本实施例中，上述传感器安装框架110的材质可以为普通薄钢板，通常由底板和加强筋(俗称加强肋)拼焊而成，在上述传感器安装框架110上可以预留出传感器的安装位置。在结构设计过程中，可能出现结构体悬出面过大，或跨度过大的情况，在这样的情况下，结构件本身的连接面能承受的负荷有限，因此需要在两结合体的公共垂直面上增加一块加强筋。传感器安装框架110可以具有耐腐蚀，抗变形，不易破损，以及重量轻等特点，因此，传感器安装框架110可以使用具有这些特点的材质制作而成。In this embodiment, the material of the above-mentioned sensor installation frame 110 can be ordinary thin steel plate, which is usually made of tailor-welded bottom plate and reinforcement (commonly known as reinforcement rib), and the installation position of the sensor can be reserved on the above-mentioned sensor installation frame 110 . In the process of structural design, it may happen that the overhanging surface of the structure is too large, or the span is too large. Add a stiffener on it. The sensor mounting frame 110 may have the characteristics of corrosion resistance, deformation resistance, non-breakage, and light weight. Therefore, the sensor mounting frame 110 may be made of materials with these characteristics.
在本实施例中，上述至少一个传感器可以包括全球定位系统(GlobalPositioning System，GPS)天线121和激光雷达122中的至少一项。全球定位系统天线121可以用于获取无人驾驶车辆的定位信息。激光雷达122是以发射激光束探测目标的位置、速度等特征量的雷达系统。通常，激光雷达122和全球定位系统天线121可以被安装在传感器安装框架110的顶部。作为示例，图1A中的激光雷达122可以为64线激光雷达。通常，64线激光雷达可以被安装在无人驾驶汽车的车顶的正上方，并且可以360°不断旋转，以实现在无人驾驶汽车行驶过程中，采集无人驾驶汽车周围的环境数据。In this embodiment, the above at least one sensor may include at least one of a global positioning system (Global Positioning System, GPS) antenna 121 and a laser radar 122 . The global positioning system antenna 121 can be used to obtain location information of the unmanned vehicle. The laser radar 122 is a radar system that emits laser beams to detect feature quantities such as a target's position and speed. Typically, the lidar 122 and the global positioning system antenna 121 may be mounted on top of the sensor mounting frame 110 . As an example, lidar 122 in FIG. 1A may be a 64-line lidar. Usually, the 64-line lidar can be installed directly above the roof of the driverless car, and can rotate 360° continuously to collect environmental data around the driverless car while the driverless car is driving.
在本实施例的一些可选的实现方式中，上述传感器还可以包括摄像头，摄像头可以用于识别红绿灯、路面交通线、各种交通标识和正前方障碍物等。可以在以下位置中的至少一个位置上安装有激光雷达和/或摄像头：上述传感器安装框架110上靠近无人驾驶车辆的车头的一端、上述传感器安装框架110上靠近无人驾驶车辆的车尾的一端、上述传感器安装框架110上靠近无人驾驶车辆的车身侧面的两端。In some optional implementations of this embodiment, the above-mentioned sensor may also include a camera, which may be used to identify traffic lights, traffic lines on the road, various traffic signs, obstacles directly ahead, and the like. The laser radar and/or the camera can be installed in at least one of the following positions: one end of the sensor mounting frame 110 close to the front of the unmanned vehicle, one end of the sensor mounting frame 110 close to the rear of the unmanned vehicle One end, the two ends of the sensor mounting frame 110 that are close to the side of the vehicle body of the unmanned vehicle.
在本实施例的一些可选的实现方式中，上述摄像头可以包括前视摄像头和环视摄像头。前视摄像头就是装在车辆前方的车载摄像头，可以很直观的监控车辆前面的障碍物。环视摄像头，又可称为全景式影像监控系统，能将车辆周围各个方向上监控到的画面拼接起来，并动态显示在车内的液晶屏上；此外，环视摄像头还能识别停车通道标识、路缘和附近车辆。上述前视摄像头可以安装在上述传感器安装框架110上靠近无人驾驶车辆的车头的一端，以监控车辆前面的障碍物；可以在以下位置中的至少一个位置上安装有上述环视摄像头：上述传感器安装框架110上靠近无人驾驶车辆的车头的一端、上述传感器安装框架110上靠近无人驾驶车辆的车尾的一端、上述传感器安装框架110上靠近无人驾驶车辆的车身侧面的两端。In some optional implementation manners of this embodiment, the aforementioned cameras may include a front-view camera and a surround-view camera. The front-view camera is a vehicle-mounted camera installed in front of the vehicle, which can intuitively monitor obstacles in front of the vehicle. The surround-view camera, also known as a panoramic image monitoring system, can stitch together the images monitored in all directions around the vehicle and dynamically display them on the LCD screen in the car; in addition, the surround-view camera can also identify parking aisle signs, road edge and nearby vehicles. The above-mentioned front-view camera can be installed on the sensor mounting frame 110 near the end of the front of the unmanned vehicle to monitor the obstacles in front of the vehicle; the above-mentioned surround-view camera can be installed in at least one of the following positions: the above-mentioned sensor installation One end of the frame 110 close to the front of the unmanned vehicle, one end of the sensor mounting frame 110 close to the rear of the unmanned vehicle, and two ends of the sensor mounting frame 110 close to the side of the vehicle body of the unmanned vehicle.
在本实施例的一些可选的实现方式中，上述激光雷达122可以包括64线激光雷达和16线激光雷达。64线激光雷达可以360°不断旋转，以实现在无人驾驶汽车行驶过程中，采集无人驾驶汽车周围的环境数据。16线激光雷达可以用于采集车身周边盲区的环境数据。可以在以下位置中的至少一个位置上安装有16线激光雷达：上述传感器安装框架110上靠近无人驾驶车辆的车头的一端、上述传感器安装框架110上靠近无人驾驶车辆的车尾的一端、上述传感器安装框架110上靠近无人驾驶车辆的车身侧面的两端。In some optional implementation manners of this embodiment, the foregoing lidar 122 may include a 64-line lidar and a 16-line lidar. The 64-line lidar can rotate 360° continuously to collect environmental data around the driverless car while the driverless car is driving. The 16-line lidar can be used to collect environmental data of the blind area around the car body. A 16-line laser radar can be installed in at least one of the following positions: one end of the above-mentioned sensor mounting frame 110 close to the front of the unmanned vehicle, one end of the above-mentioned sensor mounting frame 110 close to the rear of the unmanned vehicle, The two ends of the above-mentioned sensor installation frame 110 close to the side of the vehicle body of the unmanned vehicle.
在本实施例的一些可选的实现方式中，上述传感器组合装置还可以包括用于密封上述传感器安装框架110和上述至少一个传感器的外壳(图中未示出)，上述外壳可以在一定程度上使传感器与外界环境隔离，以保证传感器在恶劣的环境下也能正常工作。In some optional implementations of this embodiment, the above-mentioned sensor combination device may also include a casing (not shown in the figure) for sealing the above-mentioned sensor installation frame 110 and the above-mentioned at least one sensor, and the above-mentioned casing can be to a certain extent The sensor is isolated from the external environment to ensure that the sensor can work normally in harsh environments.
参见图1B，其示出了图1A的传感器组合装置中的传感器安装框架的一实施例的结构示意图。如图1B所示，传感器安装框架可以包括传感器安装底板111和至少一个传感器支撑部件112。Referring to FIG. 1B , it shows a schematic structural diagram of an embodiment of the sensor installation frame in the sensor combination device of FIG. 1A . As shown in FIG. 1B , the sensor installation frame may include a sensor installation base plate 111 and at least one sensor support member 112 .
上述传感器安装底板111可以安装于无人驾驶车辆的顶部，在传感器安装底板111上可以预留出至少一个传感器支撑部件112的安装位置。The above-mentioned sensor installation bottom plate 111 can be installed on the top of the unmanned vehicle, and at least one sensor support component 112 installation position can be reserved on the sensor installation bottom plate 111 .
上述至少一个传感器支撑部件112可以安装于上述传感器安装底板111上，用于支撑上述至少一个传感器。The at least one sensor support component 112 may be installed on the sensor installation base 111 for supporting the at least one sensor.
在本实施例的一些可选的实现方式中，上述传感器安装框架还可以包括底板支撑部件113，上述底板支撑部件113可以安装于无人驾驶车辆的顶部与上述传感器安装底板111之间，用于支撑上述传感器安装底板111。上述底板支撑部件113可以包含至少两个平行于无人驾驶车辆的车身侧面方向的纵向底板支撑部件、和至少两个垂直于上述纵向底板支撑部件的横向底板支撑部件，上述纵向底板支撑部件可以设置于上述横向底板支撑部件之上，或者上述横向底板支撑部件也可以设置于上述纵向底板支撑部件之上。为了使本申请中的传感器组合装置适配更多的车型，且更好的适应外界环境(例如，红绿灯高度等)，可以将导轨作为底板支撑部件113，上述传感器安装底板111可以在导轨上移动，通过调整上述传感器安装底板111的位置来调整至少一个传感器的位置，以更好的获取周围环境信息。In some optional implementations of this embodiment, the above-mentioned sensor installation frame may also include a bottom plate support part 113, and the above-mentioned bottom plate support part 113 may be installed between the top of the unmanned vehicle and the above-mentioned sensor installation bottom plate 111 for The above-mentioned sensor mounting base plate 111 is supported. The above-mentioned floor support part 113 may comprise at least two longitudinal floor support parts parallel to the side direction of the vehicle body of the unmanned vehicle, and at least two transverse floor support parts perpendicular to the above-mentioned longitudinal floor support part, and the above-mentioned longitudinal floor support part may be set On the above-mentioned horizontal floor support member, or the above-mentioned horizontal floor support member can also be arranged on the above-mentioned vertical floor support member. In order to adapt the sensor combination device in the present application to more vehicle models, and to better adapt to the external environment (for example, the height of traffic lights, etc.), the guide rail can be used as the base plate supporting part 113, and the above-mentioned sensor installation base plate 111 can move on the guide rail , adjust the position of at least one sensor by adjusting the position of the above-mentioned sensor installation bottom plate 111, so as to better acquire the surrounding environment information.
在本实施例的一些可选的实现方式中，上述传感器安装框架还可以包括固定部件，上述固定部件的一端可以与无人驾驶车辆的车顶固定连接，另一端可以安装于上述底板支撑部件113或者上述传感器安装底板111上，以将上述传感器安装框架固定在无人驾驶车辆的顶部。作为示例，图1B中的传感器安装框架可以包括固定部件1141、1142、1143和另一未示出的固定部件。In some optional implementations of this embodiment, the above-mentioned sensor installation frame may also include a fixing part, one end of the above-mentioned fixing part may be fixedly connected to the roof of the unmanned vehicle, and the other end may be installed on the above-mentioned floor supporting part 113 Or the above-mentioned sensor is installed on the bottom plate 111, so that the above-mentioned sensor installation frame is fixed on the top of the unmanned vehicle. As an example, the sensor mounting frame in FIG. 1B may include fixing parts 1141 , 1142 , 1143 and another not-shown fixing part.
本申请的上述实施例提供的传感器组合装置，通过将至少一个传感器安装在传感器安装框架上，可以使得各个传感器之间的相对位置关系固定，从而保证了传感器安装位置的一致性。In the sensor combination device provided by the above embodiments of the present application, by installing at least one sensor on the sensor installation frame, the relative positional relationship between the sensors can be fixed, thereby ensuring the consistency of the sensor installation positions.
继续参考图2A，其示出了本申请的传感器组合装置的又一实施例的结构示意图。如图2A所示，本实施例中的传感器组合装置可以包括传感器安装框架210和至少一个传感器。Continue to refer to FIG. 2A , which shows a schematic structural diagram of another embodiment of the sensor combination device of the present application. As shown in FIG. 2A , the sensor combination device in this embodiment may include a sensor mounting frame 210 and at least one sensor.
在本实施例中，为了获取更多的数据，传感器组合装置一般会设置多种传感器。作为示例，图2A中的传感器组合装置可以包括全球定位系统天线221，64线激光雷达222，16线激光雷达2231、2232、2233，前视摄像头(图中未示出)，环视摄像头2251、2252(由于图2A的位置关系，另外四个环视摄像头未示出)。In this embodiment, in order to obtain more data, the sensor combination device generally has multiple sensors. As an example, the sensor combination device in FIG. 2A may include a global positioning system antenna 221, a 64-line lidar 222, a 16-line lidar 2231, 2232, 2233, a front-view camera (not shown in the figure), and a surround-view camera 2251, 2252. (Due to the positional relationship of FIG. 2A, the other four surround-view cameras are not shown).
在本实施例中，上述64线激光雷达222可以安装于上述传感器安装框架210的顶部的中心位置，64线激光雷达作为感知周围环境的主要设备，对于其安装位置具有较高要求，比如尽可能的充分利用64线激光雷达的扫描范围，减少车体等零部件对64线激光雷达的遮挡。In this embodiment, the 64-line laser radar 222 can be installed at the center of the top of the sensor installation frame 210. As the main device for sensing the surrounding environment, the 64-line laser radar has high requirements for its installation position, such as Make full use of the scanning range of the 64-line lidar to reduce the occlusion of the 64-line lidar by parts such as the car body.
在本实施例中，上述全球定位系统天线221可以安装于上述传感器安装框架210的顶部的中心位置与上述传感器安装框架210上靠近无人驾驶车辆的车尾的一端之间的区域上。上述全球定位系统天线221可以用于获取无人驾驶车辆的定位信息。In this embodiment, the above-mentioned GPS antenna 221 can be installed on the area between the center position of the top of the above-mentioned sensor installation frame 210 and the end of the above-mentioned sensor installation frame 210 close to the rear of the unmanned vehicle. The above-mentioned global positioning system antenna 221 can be used to obtain the positioning information of the unmanned vehicle.
在本实施例中，上述16线激光雷达2232可以安装于上述传感器框架210上靠近无人驾驶车辆的车尾的一端，上述16线激光雷达2231和2233可以分别安装于上述传感器安装框架210上靠近无人驾驶车辆的车身侧面的两端。16线激光雷达可以用于采集车身周边盲区的环境数据。In this embodiment, the above-mentioned 16-line laser radar 2232 can be installed on the end of the sensor frame 210 close to the rear of the unmanned vehicle, and the above-mentioned 16-line laser radars 2231 and 2233 can be respectively installed on the above-mentioned sensor installation frame 210 close to Both ends of the side of the body of the driverless vehicle. The 16-line lidar can be used to collect environmental data of the blind area around the car body.
在本实施例中，上述前视摄像头可以分别安装于上述传感器框架210上靠近无人驾驶车辆的车头的一端的左侧和右侧。上述前视摄像头可以识别红绿灯、路面交通线、各种交通标识和正前方障碍物等。In this embodiment, the above-mentioned front-view cameras may be respectively installed on the left side and the right side of the end of the sensor frame 210 close to the front of the unmanned vehicle. The above-mentioned front-view camera can identify traffic lights, road traffic lines, various traffic signs and obstacles directly ahead, etc.
在本实施例的一些可选的实现方式中，为了适应不同的道路情况，可以将上述传感器框架210上靠近无人驾驶车辆的车头的一端的左侧和右侧上的两个前视摄像头的镜头焦距设置成不相同的焦距。In some optional implementations of this embodiment, in order to adapt to different road conditions, the two front-view cameras on the left and right ends of the sensor frame 210 close to the front of the unmanned vehicle can be Lens focal lengths are set to different focal lengths.
在本实施例中，上述环视摄像头2251和2252可以分别安装于上述传感器框架210上靠近无人驾驶车辆的左侧车身的一端的两侧，上述环视摄像头(图中未示出)还可以安装于上述传感器框架210上靠近无人驾驶车辆的车头的一端的中间位置，环视摄像头(由于图2A的位置关系，图中未示出)还可以分别安装于上述传感器框架210上靠近无人驾驶车辆的右侧车身的一端的两侧，环视摄像头(由于图2A的位置关系，图中未示出)还可以安装于上述传感器框架210上靠近无人驾驶车辆的车尾的一端的中间位置。环视摄像头，又可称为全景式影像监控系统，能将车辆周围各个方向监控到的画面拼接起来，并动态显示在车内的液晶屏上；此外，环视摄像头还能识别停车通道标识、路缘和附近车辆。In this embodiment, the above-mentioned surround-view cameras 2251 and 2252 can be respectively installed on both sides of one end of the left side body of the unmanned vehicle on the above-mentioned sensor frame 210, and the above-mentioned surround-view cameras (not shown in the figure) can also be installed on At the middle position of one end of the front of the unmanned vehicle on the above-mentioned sensor frame 210, the surround-view camera (due to the positional relationship in FIG. On both sides of one end of the right side body, the surround view camera (due to the positional relationship of FIG. 2A , not shown in the figure) can also be installed on the sensor frame 210 near the middle of the rear end of the unmanned vehicle. The surround-view camera, also known as a panoramic image monitoring system, can stitch together the images monitored in all directions around the vehicle and dynamically display them on the LCD screen in the car; in addition, the surround-view camera can also identify parking aisle signs, curb and nearby vehicles.
需要说明的是，为了适应所安装的车型、路况信息等，可以根据实际需要开启相应的传感器，或者安装和/或拆卸相应的传感器，来感知周围环境，以保证无人驾驶车辆的行驶安全。It should be noted that, in order to adapt to the installed vehicle type, road condition information, etc., corresponding sensors can be turned on according to actual needs, or corresponding sensors can be installed and/or removed to perceive the surrounding environment to ensure the driving safety of unmanned vehicles.
请继续参见图2B，其示出了图2A的传感器组合装置中的传感器安装框架的又一实施例的结构示意图。如图2B所示，传感器安装框架可以包括底板支撑部件211，传感器安装底板212，至少一个传感器支撑部件和固定部件。作为示例，图2B中的传感器安装框架可以包括固定部件2141、2142、2143以及另一未示出的固定部件。Please continue to refer to FIG. 2B , which shows a schematic structural diagram of another embodiment of the sensor installation frame in the sensor combination device in FIG. 2A . As shown in FIG. 2B , the sensor installation frame may include a base support part 211 , a sensor installation base 212 , at least one sensor support part and a fixing part. As an example, the sensor mounting frame in FIG. 2B may include fixing parts 2141 , 2142 , 2143 and another not shown fixing part.
在本实施例中，上述底板支撑部件211可以安装于无人驾驶车辆的顶部与上述传感器安装底板212之间，用于支撑上述传感器安装底板212。上述底板支撑部件211可以包含至少两个平行于无人驾驶车辆的车门方向的纵向底板支撑部件、和至少两个垂直于上述纵向底板支撑部件的横向底板支撑部件，上述纵向底板支撑部件可以设置于上述横向底板支撑部件之上，或者上述横向底板支撑部件也可以设置于上述纵向底板支撑部件之上。In this embodiment, the above-mentioned bottom plate support member 211 may be installed between the top of the unmanned vehicle and the above-mentioned sensor installation bottom plate 212 for supporting the above-mentioned sensor installation bottom plate 212 . The above-mentioned base plate supporting part 211 may comprise at least two longitudinal base plate supporting parts parallel to the direction of the door of the unmanned vehicle, and at least two transverse base plate supporting parts perpendicular to the above-mentioned longitudinal base plate supporting part, and the above-mentioned longitudinal base plate supporting part may be arranged on On the above-mentioned horizontal floor support member, or the above-mentioned horizontal floor support member can also be arranged on the above-mentioned vertical floor support member.
在本实施例中，上述传感器安装底板212可以安装于无人驾驶车辆的顶部，在传感器安装底板212上可以预留出至少一个传感器支撑部件的安装位置。In this embodiment, the above-mentioned sensor installation base plate 212 can be installed on the top of the unmanned vehicle, and at least one sensor support component installation position can be reserved on the sensor installation base plate 212 .
在本实施例中，上述至少一个传感器支撑部件可以包括传感器支撑部件2131、2132、21331、21332、21333和支撑部件安装槽21341、21342、21351、21352、21353、21354、21355、21356，其中，支撑部件安装槽用于安装传感器支撑部件。In this embodiment, the above-mentioned at least one sensor support component may include sensor support components 2131, 2132, 21331, 21332, 21333 and support component installation grooves 21341, 21342, 21351, 21352, 21353, 21354, 21355, 21356, wherein the support The part mounting slot is used to install the sensor support part.
在这里，上述传感器支撑部件2132可以安装于传感器安装底板212顶部的中心位置，用于支撑64线激光雷达222。Here, the above-mentioned sensor supporting part 2132 may be installed at the center of the top of the sensor installation base plate 212 for supporting the 64-line laser radar 222 .
在这里，上述传感器支撑部件2131可以安装于传感器安装底板212顶部的中心位置与上述传感器安装底板212上靠近无人驾驶车辆的车尾的一端之间的区域上，用于支撑全球定位系统天线211。Here, the above-mentioned sensor support member 2131 can be installed on the area between the center position of the top of the sensor installation base plate 212 and the end of the above-mentioned sensor installation base plate 212 close to the rear of the unmanned vehicle, for supporting the GPS antenna 211 .
在这里，上述传感器支撑部件21331和21333可以分别安装于上述传感器安装底板212上靠近无人驾驶车辆的车身侧面的两端，上述传感器支撑部件21332可以安装于上述传感器安装底板212上靠近无人驾驶车辆的车尾的一端，用于分别支撑16线激光雷达2231、2232、2233。Here, the above-mentioned sensor support parts 21331 and 21333 can be respectively installed on the two ends of the side of the vehicle body of the unmanned vehicle on the above-mentioned sensor installation base plate 212, and the above-mentioned sensor support part 21332 can be installed on the above-mentioned sensor installation base plate 212 close to the unmanned vehicle. One end of the rear of the vehicle is used to respectively support the 16-line laser radars 2231 , 2232 , and 2233 .
在这里，上述传感器安装底板212可以预留出支撑部件安装槽的位置，上述支撑部件安装槽用于安装传感器支撑部件，支撑部件安装槽21341、21342可以用于将两个前视摄像头(图中未示出)的传感器支撑部件分别固定在传感器安装底板212上靠近无人驾驶车辆的车头的一端的两侧，以固定前视摄像头。Here, the above-mentioned sensor installation bottom plate 212 can reserve the position of the support component installation groove, and the above-mentioned support component installation groove is used for installing the sensor support component, and the support component installation grooves 21341, 21342 can be used for two front-view cameras (in the figure) The sensor supporting parts not shown) are respectively fixed on the two sides of the end near the front end of the unmanned vehicle on the sensor mounting base plate 212, to fix the front-view camera.
在这里，支撑部件安装槽21351可以用于将环视摄像头(图中未示出)的传感器支撑部件固定在传感器安装底板212上靠近无人驾驶车辆的车头的一端的中间位置，以固定环视摄像头；支撑部件安装槽21352、21353可以用于将环视摄像头2251、2252的传感器支撑部件分别固定在传感器安装底板212上靠近无人驾驶车辆的左侧车身的一端的两侧，以固定环视摄像头2251、2252；支撑部件安装槽21354可以用于将环视摄像头(图中未示出)的传感器支撑部件固定在传感器安装底板212上靠近无人驾驶车辆的车尾的一端的中间位置，以固定环视摄像头；支撑部件安装槽21355、21356可以用于将环视摄像头(图中未示出)的传感器支撑部件固定在传感器安装底板212上靠近无人驾驶车辆的右侧车身的一端的两侧，以固定环视摄像头。Here, the support component mounting groove 21351 can be used to fix the sensor support component of the surround-view camera (not shown in the figure) at the middle position of the end near the front of the driverless vehicle on the sensor installation base plate 212, so as to fix the surround-view camera; The supporting component mounting grooves 21352, 21353 can be used to fix the sensor supporting components of the surround-view cameras 2251, 2252 respectively on the two sides of the sensor mounting base plate 212 near the end of the left side body of the unmanned vehicle, so as to fix the surround-view cameras 2251, 2252 The support member mounting groove 21354 can be used to fix the sensor support member of the surround-view camera (not shown in the figure) on the sensor installation base plate 212 near the middle position of an end of the rear end of the unmanned vehicle, to fix the surround-view camera; support The component mounting slots 21355, 21356 can be used to fix the sensor support components of the surround-view camera (not shown) on both sides of the end of the sensor mounting base plate 212 near the right side of the unmanned vehicle, so as to fix the surround-view camera.
在本实施例的一些可选的实现方式中，上述传感器支撑部件可以包括但不限于以下至少一项：位置可调节支撑部件、角度可调节支撑部件和高度可调节支撑部件。上述位置可调节支撑部件可以调节所支撑的传感器的位置，上述角度可调节支撑部件可以调节所支撑的传感器的角度，上述高度可调节支撑部件可以调节所支撑的传感器的高度。作为示例，在图2B中，位置可调节支撑部件可以包括上述传感器支撑部件2131，角度可调节支撑部件可以包括上述传感器支撑部件21331、21332、21333，高度可调节支撑部件可以包括上述传感器支撑部件2132。采用可调节的传感器支撑部件，可以针对不用的车型、道路情况(例如红路灯高度等)等信息对传感器的位置、角度、高度等等进行调整，从而增强上述实施例中的传感器组合装置的适应性。In some optional implementation manners of this embodiment, the above-mentioned sensor support component may include but not limited to at least one of the following: a position-adjustable support component, an angle-adjustable support component, and a height-adjustable support component. The above-mentioned position-adjustable support part can adjust the position of the supported sensor, the above-mentioned angle-adjustable support part can adjust the angle of the supported sensor, and the above-mentioned height-adjustable support part can adjust the height of the supported sensor. As an example, in FIG. 2B , the position-adjustable support part may include the above-mentioned sensor support part 2131, the angle-adjustable support part may include the above-mentioned sensor support parts 21331, 21332, 21333, and the height-adjustable support part may include the above-mentioned sensor support part 2132. . Adopting adjustable sensor supporting parts, the position, angle, height, etc. of the sensor can be adjusted according to information such as different vehicle types and road conditions (such as the height of red street lights, etc.), thereby enhancing the adaptability of the sensor combination device in the above-mentioned embodiment. sex.
在本实施例的一些可选的实现方式中，上述传感器安装框架还可以包括固定部件，上述固定部件的一端可以与无人驾驶车辆的车顶固定连接，另一端可以安装于上述底板支撑部件211或者上述传感器安装底板212上，以将上述传感器安装框架固定在无人驾驶车辆的顶部。作为示例，图2B中的传感器安装框架可以包括固定部件2141、2142、2143以及另一未示出的固定部件。In some optional implementations of this embodiment, the above-mentioned sensor installation frame may also include a fixing part, one end of the above-mentioned fixing part may be fixedly connected to the roof of the unmanned vehicle, and the other end may be installed on the above-mentioned floor supporting part 211 Or the above-mentioned sensor is installed on the base plate 212, so that the above-mentioned sensor installation frame is fixed on the top of the unmanned vehicle. As an example, the sensor mounting frame in FIG. 2B may include fixing parts 2141 , 2142 , 2143 and another not shown fixing part.
需要说明的是，本申请对传感器支撑部件2131、2132、21331、21332、21333，支撑部件安装槽21341、21342、21351、21352、21353、21354、21355、21356在上述传感器安装底板212上的具体位置并不进行限定，只要被传感器支撑部件2131、2132、21331、21332、21333，支撑部件安装槽21341、21342、21351、21352、21353、21354、21355、21356分别支撑的全球定位系统天线221，64线激光雷达222，16线激光雷达2231、2232、2233，前视摄像头，环视摄像头2251、2252和四个未示出的环视摄像头可以正常实现其功能即可。It should be noted that this application specifies the specific positions of the sensor support components 2131, 2132, 21331, 21332, 21333, and the support component installation grooves 21341, 21342, 21351, 21352, 21353, 21354, 21355, 21356 on the above-mentioned sensor installation base plate 212. It is not limited, as long as the global positioning system antenna 221 and 64 lines supported by the sensor supporting parts 2131, 2132, 21331, 21332, 21333 and the supporting part mounting grooves 21341, 21342, 21351, 21352, 21353, 21354, 21355, 21356 respectively The lidar 222, the 16-line lidar 2231, 2232, 2233, the front-view camera, the surround-view cameras 2251, 2252 and the four unshown surround-view cameras can normally realize their functions.
本申请的上述实施例提供的传感器组合装置，通过将多个传感器合理地安装在传感器安装框架上，并描述了各个传感器的安装位置，从而最大程度地利用传感器感知周围环境，保证无人驾驶车辆的行驶安全。The sensor combination device provided by the above-mentioned embodiments of the present application rationally installs a plurality of sensors on the sensor installation frame, and describes the installation positions of each sensor, so that the sensor can be used to perceive the surrounding environment to the greatest extent, ensuring that the driverless vehicle driving safety.
本领域技术人员应当理解，本申请中所涉及的实用新型范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离所述实用新型构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, and should also cover the above-mentioned utility models without departing from the concept of the utility model. Other technical solutions formed by any combination of technical features or equivalent features. For example, a technical solution formed by replacing the above-mentioned features with technical features with similar functions disclosed in (but not limited to) this application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720222835.0UCN207000331U (en) | 2017-03-08 | 2017-03-08 | Sensor assemblies |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720222835.0UCN207000331U (en) | 2017-03-08 | 2017-03-08 | Sensor assemblies |
| Publication Number | Publication Date |
|---|---|
| CN207000331Utrue CN207000331U (en) | 2018-02-13 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720222835.0UActiveCN207000331U (en) | 2017-03-08 | 2017-03-08 | Sensor assemblies |
| Country | Link |
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| CN (1) | CN207000331U (en) |
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