CN110239447A - One cartridge and unmanned vehicle - Google Patents
One cartridge and unmanned vehicle Download PDFInfo
- Publication number
- CN110239447A CN110239447A CN201910586838.6A CN201910586838A CN110239447A CN 110239447 A CN110239447 A CN 110239447A CN 201910586838 A CN201910586838 A CN 201910586838A CN 110239447 A CN110239447 A CN 110239447A
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- equipment
- unmanned
- pedestal
- side wall
- cartridge
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 70
- 230000004308 accommodation Effects 0.000 claims abstract description 38
- 230000008447 perception Effects 0.000 claims abstract description 24
- 238000000926 separation method Methods 0.000 claims description 19
- 238000001816 cooling Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 7
- 238000002955 isolation Methods 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 12
- 230000010354 integration Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 12
- 238000004891 communication Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
Classifications
-
- 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
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/0049—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means for non integrated articles
- B60R2011/005—Connection with the vehicle part
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the present invention provides a kind of one cartridge and unmanned vehicle, and one cartridge includes pedestal and the side wall that is disposed around on the pedestal；Wherein, the pedestal is rigid base, connector is provided on the pedestal, the connector with the car body of unmanned vehicle for connecting；At least one unmanned equipment is equipped in the accommodation space that the pedestal and the side wall are surrounded, each unmanned equipment is separately positioned on the pedestal or the side wall；Wherein, at least one described unmanned equipment is one of following types or a variety of: calculating class equipment, perception class equipment, positioning class equipment.By by each unmanned integration of equipments into one cartridge, improve the stability of unmanned equipment, and, it only needs to need to carry out a calibration process unmanned equipment is installed to the integral case period of the day from 11 p.m. to 1 a.m for the first time, it is subsequent to no longer need to repeatedly be demarcated, to save time cost and human cost.
Description
Technical field
The present embodiments relate to unmanned technical field more particularly to a kind of one cartridge and Unmanned Systems
And unmanned vehicle.
Background technique
Currently on unmanned vehicle dispose Unmanned Systems when, need by involved in Unmanned Systems it is multiple nobody drive
It sails on integration of equipments to unmanned vehicle.Wherein, unmanned equipment includes: to calculate equipment, awareness apparatus and positioning device etc., is calculated
Equipment can specifically include graphics processor (Graphics Processing Unit, GPU), central processing unit (Central
Processing Unit, CPU) etc.；Awareness apparatus can specifically include: camera (Camera), laser radar (Lidar), red
External equipment etc., positioning device can specifically include Global Satellite Navigation System (Global Navigation Satellite
System, GNSS) equipment, Inertial Measurement Unit (Inertial measurement unit, IMU) etc..
It in the prior art,, will be each generally according to the actual conditions of car body when disposing each unmanned equipment on unmanned vehicle
Unmanned equipment is installed on the different location of unmanned vehicle, is connected between these equipment by line, and line itself has
Unstability, so that the stability of unmanned equipment reduces, such as: situations such as car body shaking is jolted makes line scatter
It falls off, unmanned equipment is caused to can not work normally.In addition, since essence of the Unmanned Systems to data wants more demanding,
Each unmanned equipment is required to carry out accurate calibration process after being deployed on unmanned vehicle, when needing to spend very much
Between cost and human cost.
Summary of the invention
The embodiment of the present invention provides a kind of one cartridge and unmanned vehicle, to improve the stability of each unmanned equipment,
And save the time cost and human cost of each unmanned equipment calibration process.
In a first aspect, the embodiment of the present invention provides a kind of one cartridge, comprising: pedestal and be disposed around on the pedestal
Side wall；Wherein,
The pedestal is rigid base, connector is provided on the pedestal, the connector is for the vehicle with unmanned vehicle
Body connection；
At least one unmanned equipment is equipped in the accommodation space that the pedestal and the side wall are surrounded, it is each described
Unmanned equipment is separately positioned on the pedestal or the side wall；Wherein, under at least one described unmanned equipment is
It states one of type or a variety of: calculating class equipment, perception class equipment, positioning class equipment.
Optionally, separation layer is provided in the accommodation space, the accommodation space is divided at least by the separation layer
Two layers, every layer for accommodating a type of unmanned equipment, and the type of the unmanned equipment of every layer of accommodating and other
Layer is different.
Optionally, there are two separation layers for setting in the accommodation space, and described two separation layers are parallel with the pedestal to be set
It sets, the accommodation space is divided into three layers by described two separation layers；
One layer close to the pedestal is used to accommodate the calculating class equipment, and middle layer is for accommodating positioning class equipment, far
One layer from the pedestal is used to accommodate the perception class equipment.
Optionally, be respectively arranged with winding slot on the pedestal, the side wall and the separation layer, it is each it is described nobody drive
The wiring for sailing equipment is fastened in the winding slot.
Optionally, if the type of the unmanned equipment is perception class equipment；
At least one reserved hole location is provided on the side wall, the relatively described reserved hole location of the perception class equipment is arranged,
The reserved hole location is used to supply the perception class devices collect data.
Optionally, cooling fin is additionally provided on the pedestal and/or the side wall.
Optionally, the one cartridge further include: roof；
The roof lid is located on the side wall, and the roof at least partly can be separated with the side wall, with exposure
The accommodation space is at least partly.
Optionally, the roof is detachably connected, is rotatablely connected or is slidably connected with the side wall.
Optionally, each unmanned equipment is connected together, is spirally connected or passes through with the pedestal or the side wall respectively
Fixed part connection.
Optionally, adapter is provided in the accommodation space, one end of the adapter is provided with multiple first interfaces,
The other end of the adapter is provided with a second interface, and the wiring of each unmanned equipment can be with the multiple first
Interface connection, the second interface are exposed to outside the accommodation space, for connecting with data/address bus.
Optionally, cable-through hole is offered on the pedestal or the side wall, the wiring of each unmanned equipment can be from
The cable-through hole is pierced by.
Optionally, the calculating class equipment includes: graphics processor and central processing unit；The perception class equipment includes:
Camera, laser radar and infrared equipment, the positioning class equipment includes: global navigation satellite equipment and inertia measurement equipment.
Second aspect, the embodiment of the present invention provide a kind of unmanned vehicle, comprising: such as the described in any item integrations of first aspect
Box.
Optionally, the connector is connect with the roof of the unmanned vehicle.
Optionally, the connector is connect with the headstock of the unmanned vehicle.
One cartridge and unmanned vehicle provided in an embodiment of the present invention, one cartridge include pedestal and are disposed around the bottom
Side wall on seat；Wherein, the pedestal is rigid base, and connector is provided on the pedestal, and the connector is used for and nothing
The car body of people's vehicle connects；At least one is equipped in the accommodation space that the pedestal and the side wall are surrounded unmanned to set
Standby, each unmanned equipment is separately positioned on the pedestal or the side wall；It is wherein, described that at least one is unmanned
Equipment is one of following types or a variety of: calculating class equipment, perception class equipment, positioning class equipment.By by it is each nobody drive
Integration of equipments is sailed into one cartridge, improves the stability of unmanned equipment, and, it is only necessary to it is set by unmanned
Standby being installed to the integral case period of the day from 11 p.m. to 1 a.m needs to carry out a calibration process for the first time, subsequent to no longer need to repeatedly be demarcated, to save
A large amount of time cost and human cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram one of one cartridge provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram two of one cartridge provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of optional adapter provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram three of one cartridge provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram four of one cartridge provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of unmanned vehicle provided in an embodiment of the present invention.
Description of symbols:
100: one cartridge；
101: pedestal；
102: side wall；
103: connector；
104: separation layer；
105: adapter；
1051: first interface；
1052: second interface；
106: reserved hole location；
107: cooling fin；
108: roof；
200: unmanned vehicle.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
When disposing Unmanned Systems on unmanned vehicle, need unmanned to set multiple involved in Unmanned Systems
It is standby to be integrated on unmanned vehicle.Wherein, unmanned equipment includes: to calculate equipment, awareness apparatus and positioning device etc., calculates equipment
Graphics processor (Graphics Processing Unit, GPU), central processing unit (Central can be specifically included
Processing Unit, CPU) etc.；Awareness apparatus can specifically include: camera (Camera), laser radar (Lidar), red
External equipment etc., positioning device can specifically include Global Satellite Navigation System (Global Navigation Satellite
System, GNSS) equipment, Inertial Measurement Unit (Inertial measurement unit, IMU) etc..
Specifically, the ambient enviroment of the awareness apparatus such as camera, laser radar, infrared equipment unmanned vehicle for identification, example
Such as: detection unmanned vehicle is at a distance from barrier, identification lane line, identification traffic lights.Positioning device is for positioning nobody
The location information of vehicle.Information of the class equipment for obtaining according to perception class equipment and positioning device is calculated to carry out data processing and divide
Analysis, and the driving of Decision Control unmanned vehicle.
It in the prior art,, will be each generally according to the actual conditions of car body when disposing each unmanned equipment on unmanned vehicle
Unmanned equipment is installed on the different location of unmanned vehicle, is connected between these equipment by line, and line itself has
Unstability, so that the stability of unmanned equipment reduces, such as: situations such as car body shaking is jolted makes line scatter
It falls off, unmanned equipment is caused to can not work normally.
In addition, the IMU installed on the car body of unmanned vehicle is per se with three-dimensional system of coordinate, meanwhile, Lidar with oneself
Coordinate system, with a coordinate system, the data acquired under these three coordinate systems all very precisely, but make unmanned vehicle itself combining
When with the data acquired under these three coordinate systems, since different coordinates have a certain distance, need to these three coordinate systems
The data of lower acquisition are demarcated, and determine the deviation between each sensor.It is used in combination on vehicle per mostly one sensor of increase, all
It needs to carry out intersection calibration, a large amount of staking-out work amount can be introduced, expend a large amount of manpower and time.
At least one of to solve the above-mentioned problems, the embodiment of the present invention provides a kind of one cartridge, by will be each
Kind unmanned integration of equipments improves the stability of unmanned equipment into one cartridge, and, it is only necessary to by nothing
People's steer is installed to the integral case period of the day from 11 p.m. to 1 a.m for the first time and needs to carry out a calibration process, subsequent to no longer need to repeatedly be demarcated,
To save a large amount of time cost and human cost.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the structural schematic diagram one of one cartridge provided in an embodiment of the present invention, as shown in Figure 1, the present embodiment
One cartridge, comprising: pedestal 101 and the side wall 102 being disposed around on the pedestal 101.
Wherein, the pedestal 101 is rigid base, is provided with connector 103, the connector 103 on the pedestal 101
It is connect for the car body with unmanned vehicle.
At least one unmanned equipment is equipped in the accommodation space that the pedestal 101 and the side wall 102 are surrounded,
Each unmanned equipment is separately positioned on the pedestal 101 or the side wall 102；Wherein, it is described at least one nobody
Steer is one of following types or a variety of: calculating class equipment, perception class equipment, positioning class equipment.
Specifically, the shape of pedestal 101 can have any shape, and such as: it can be rectangle, circle, can also be ellipse
Shape, the present invention is not especially limit this, and Fig. 1 is exemplary the case where being rectangular base.Side wall 102 is disposed around pedestal
On 101, side wall 102 and pedestal 101 surround accommodation space.
Wherein, at least one unmanned equipment can be accommodated in accommodation space.It should be understood that the nothing in the present embodiment
People's steer can be any appliance involved in Unmanned Systems, can also can be perception class to calculate class equipment
Equipment can also be positioning class equipment.
Optionally, the calculating class equipment includes: graphics processor and central processing unit；The perception class equipment includes:
Camera, laser radar and infrared equipment, the positioning class equipment includes: global navigation satellite equipment and inertia measurement equipment.
Specifically, can determine which unmanned integration of equipments arrives according to the corresponding function of each unmanned equipment
In one cartridge, which unmanned equipment is not integrated into one cartridge.Such as: the possibility of Unmanned Systems needs
Multiple cameras, each camera are used to acquire the image data of different direction, some cameras are for acquiring in front of unmanned vehicle
Image data, some cameras are used to acquire the image data at unmanned vehicle rear, some cameras are for acquiring unmanned vehicle side
The image data of side, the image data that some cameras are used to acquire above unmanned vehicle therefore can be corresponding according to camera
Function determines which camera is desirably integrated into one cartridge.Such as: above acquisition unmanned vehicle, front and back takes the photograph
As head is desirably integrated into one cartridge, the camera of acquisition unmanned vehicle side is without being integrated into one cartridge.It needs
Illustrate, the example above is merely illustrative, and the embodiment of the present invention is not limited thereto.
It should be understood that each unmanned equipment in the present embodiment is accommodated in the accommodation space of one cartridge, one
Body box plays protective effect to each unmanned equipment, unmanned caused by avoiding due to car body shaking etc.
The displacement of equipment improves the stability of unmanned equipment.
In addition, by the way that each unmanned integration of equipments into one cartridge, is reduced between each unmanned equipment
Distance, therefore shorten the wire length between each unmanned equipment, further improve the stabilization of unmanned equipment
Property.
In a kind of optional embodiment, one cartridge is that the die sinking of disposable mold is formed by box, due to box
Pedestal and side wall be integrally formed, further improve the stability for the unmanned equipment that cassette content is set.
In the present embodiment, each unmanned equipment be can be set on pedestal 101, can also be arranged on side wall 102.It needs
It is noted that the connection type of each unmanned equipment and pedestal 101 and side wall 102 can there are many.A kind of optional reality
It applies in mode, each unmanned equipment is blocked and connect with pedestal 101 or side wall 102；In another optional embodiment, respectively
Unmanned equipment is spirally connected with pedestal 101 or side wall 102；In another optional embodiment, each unmanned equipment with
Pedestal 101 or side wall 102 are connected by fixed part.
Further, as shown in Figure 1, the pedestal 101 of the present embodiment is rigid base, connector is provided on pedestal 101
103, connector 103 with the car body of unmanned vehicle for connecting.It should be noted that for the number of connector 103 in the present embodiment
Amount is not especially limited, and only carries out example shown in Fig. 1 by taking 4 connectors as an example.
Pedestal 101 uses rigid base in the present embodiment, improves the stability of pedestal 101.Specifically, pedestal 101 can
To use high-precision rigid body, also, connector 103 can use high-precision connector, improve the integration of the present embodiment
The stability that box is connect with car body.
It should be noted that the form of pedestal 101 can there are many, such as: pedestal can be scaffolding base, can be with
It is platform-type pedestal.The present invention is not especially limit this, only carries out example in Fig. 1 by taking platform-type pedestal as an example.
It should be understood that being further ensured in box accommodation space due to one cartridge and car body stable connection
The stability of each unmanned equipment is not susceptible to be displaced so that the position of each unmanned equipment is fixed.To, it is only necessary to
It is installed for the first time in each unmanned equipment to the integral case period of the day from 11 p.m. to 1 a.m and once demarcate, it is subsequent it is not necessary that calibration is repeated several times,
Staking-out work amount is greatly reduced, time cost and human cost are saved.
It is a kind of optional in order to further increase the stability of each unmanned equipment on the basis of embodiment shown in Fig. 1
Embodiment in, separation layer can be set in accommodation space, and the accommodation space is divided at least two by the separation layer
Layer, every layer for accommodating a type of unmanned equipment, and the type and other layers of the unmanned equipment of every layer of accommodating
It is different.
Illustratively, it is assumed that accommodation space is divided into three layers, then this three layers may be respectively used for accommodating calculate class equipment,
Perceive class equipment and positioning class equipment.Wherein, which type of unmanned equipment is specifically accommodated for each layer, it can basis
Actual conditions are configured.
Optionally, the working environment as required for different types of unmanned equipment is different, such as: some nothings
People's steer needs ventilated environment, some unmanned equipment need dissipating-heat environment, some unmanned equipment need closed
Environment.It is that each layering carries out different set so as to the working environment according to required for all types of unmanned equipment
It sets.Illustratively, in the case that the accommodation space of one cartridge is divided into two layers, wherein one layer needs venting ring for accommodating
In addition the unmanned equipment in border is used to accommodate the unmanned equipment for needing closed environment for one layer.
It should be noted that the arrangement of division mode and all kinds of unmanned equipment for accommodation space, also
There may be other optional modes, the present embodiment is not listed one by one.It is retouched in detail below with reference to a specific embodiment
It states.
Fig. 2 is the structural schematic diagram two of one cartridge provided in an embodiment of the present invention, as shown in Fig. 2, the present embodiment
One cartridge, there are two separation layers 104 for the interior setting of the accommodation space, and described two separation layers 104 and the pedestal 101 are flat
The accommodation space is divided into three layers by row setting, described two separation layers 104.
Specifically, one layer close to the pedestal 101 is used to accommodate the calculating class equipment, middle layer is for accommodating positioning
Class equipment, one layer far from the pedestal 101 is used to accommodate the perception class equipment.
In a kind of optional embodiment, set respectively on the pedestal 101, the side wall 102 and the separation layer 104
It is equipped with winding slot (not shown), the wiring of each unmanned equipment is fastened in the winding slot.
It should be understood that by the way that winding slot is arranged on pedestal, side wall and separation layer so that each unmanned equipment it
Between wiring can be fastened in connecting groove, ensure that the stability of wiring between unmanned equipment, avoid due to car body
The loose problem of wiring caused by shaking, further ensures the stability of unmanned equipment.
In another optional embodiment, cable-through hole is offered on the pedestal 101 or the side wall 102 and (is not shown
Out), the wiring of each unmanned equipment can be pierced by from the cable-through hole.
It should be understood that due to each unmanned equipment may also need with outside box power interface and/or communication
Interface connects, in the present embodiment, by opening up cable-through hole on the pedestal or side wall of box, to facilitate each unmanned
The connection of equipment and power interface and communication interface.
In another optional embodiment, adapter 105 is provided in the accommodation space, Fig. 3 is that the present invention is implemented
The structural schematic diagram for a kind of optional adapter that example provides, as shown in figure 3, one end of adapter 105 is provided with multiple first
Interface 1051, the other end of the adapter 105 are provided with a second interface 1052, the wiring of each unmanned equipment
It can be connect with the multiple first interface 1051, the second interface 1052 is exposed to outside the accommodation space, is used for and number
It is connected according to bus.
Specifically, adapter 105 can be power supply line adapter, it can also be communication line adapter.Such as: it is multiple nobody
Steer be required to connection power supply in the case where, can by the power interface of multiple unmanned equipment respectively with adapter
Second interface, is then exposed to outside accommodation space by first interface connection, connect with interior power bus.It is multiple that nobody drives
Sail in the case that equipment is required to connection communication interface, can by the communication interface of multiple unmanned equipment respectively with adapter
First interface connection, then second interface is exposed to outside accommodation space, is connect with interior communication bus.
In the present embodiment, by the way that adapter is arranged in one cartridge, the wiring of each unmanned equipment can be reduced
Quantity further improves the stability of unmanned equipment.
Fig. 4 is the structural schematic diagram three of one cartridge provided in an embodiment of the present invention, as shown in figure 4, the present embodiment
One cartridge is additionally provided with cooling fin 107 on the pedestal 101 and/or the side wall 102.
Specifically, will appear heat in the case where long-term work due to each unmanned equipment accommodated in accommodation space
Higher situation is measured, therefore, in the present embodiment, cooling fin 107 is set, on the pedestal and/or side wall of one cartridge to protect
Heat in card one cartridge distributes in time.
Wherein, cooling fin can there are many forms, such as: Lv ﹑ copper storehouse can also be used using chimeric cooling fin
Cooling fin can also use aluminium extruded type cooling fin, and the present invention is not especially limit this, as long as can reach heat dissipation
The cooling fin of function.
Further, in a kind of optional embodiment, as shown in figure 4, if unmanned equipment in accommodation space
Type be perception class equipment, then at least one reserved hole location 106, the perception class equipment can be provided on side wall 102
The relatively described reserved hole location 106 is arranged, and the reserved hole location 106 is used to supply the perception class devices collect data.
Specifically, perception class equipment includes: camera, infrared equipment, radar equipment, laser equipment etc., these equipment exist
It needs to be exposed to outside accommodation space when acquiring data, therefore, in the present embodiment, reserved hole location is provided on side wall, it is each to perceive
Class equipment can be oppositely arranged with corresponding reserved hole location, to acquire data by reserved hole location.
It should be noted that the present embodiment is not especially limited for reserving the quantity of hole location, it can be according to integral case
The quantity of the perception class equipment accommodated in sub is configured.It should be understood that respectively perceiving the shape of the corresponding reserved hole location of class equipment
Shape and size can be different, only carry out example by taking the reserved hole location of ellipse as an example shown in Fig. 4.
Fig. 5 is the structural schematic diagram four of one cartridge provided in an embodiment of the present invention, as shown in figure 5, any of the above-described
On the basis of embodiment, the one cartridge of the present embodiment can also include roof 108.
The roof 108 lid is located on the side wall 102, and the roof 108 at least partly can be with the side wall 102
Separation, at least partly with the exposure accommodation space.
Specifically, roof 108 can turn on or off according to actual needs, and such as: driving status is in unmanned vehicle
When, the unmanned equipment in part in one cartridge may need to be exposed to outside accommodation space, therefore, can be by roof 108
It opens；When unmanned vehicle is in dead ship condition, each unmanned equipment in one cartridge is by dust or rain in order to prevent
Water pollution can close roof 108.
It should be understood that in the present embodiment between roof 108 and side wall 102 can there are many lid set mode.It is a kind of optional
Embodiment in, the roof 108 is detachably connected with the side wall 102.In another optional embodiment, the top
Wall 108 can be rotatablely connected with the side wall 102, roof 108 can along the rotation on one side of side wall 102, opened with to realize or
One cartridge is closed, Fig. 5 is exemplary the case where being one side Unscrew of the roof along side wall 102.Another is optionally implemented
In mode, the roof 108 is slidably connected with the side wall 102, and roof 108 can be slided along the upper edge of side wall 102 by push-and-pull
It is dynamic, one cartridge is turned on or off to realize.
Fig. 6 is the structural schematic diagram of unmanned vehicle provided in an embodiment of the present invention, as shown in fig. 6, nobody in the present embodiment
Vehicle 200, comprising: one cartridge 100, wherein one cartridge 100 can be using any integral case in above-described embodiment
The structure of son.
Specifically, the unmanned vehicle 200 of the present embodiment can be the unmanned vehicle of any vehicle, and such as: car, offroad vehicle, race
Vehicle, two-box automobile, three-box car, truck, trailer etc..
In a kind of optional embodiment, one cartridge 100 is connect by connector 103 with the roof of unmanned vehicle 200.
It should be understood that no matter which kind of vehicle, car top position is relatively flat, and is not easily susceptible to various collisions, therefore,
In order to be applicable in a variety of different compartments, in the present embodiment, one cartridge 100 is mounted on to the roof of unmanned vehicle.
Certainly, in another optional embodiment, one cartridge 100 can also be passed through into company according to actual needs
Fitting 103 is connect with the headstock of unmanned vehicle 200.
Unmanned vehicle provided in an embodiment of the present invention is improved each by box integrated on the car body of unmanned vehicle
The stability of the unmanned equipment of kind, and, it is only necessary to unmanned equipment is being installed to integral case period of the day from 11 p.m. to 1 a.m needs for the first time
A calibration process is carried out, it is subsequent to no longer need to repeatedly be demarcated, to save a large amount of time cost and human cost.
In embodiments of the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ",
" fixation " etc. shall be understood in a broad sense, such as may be a fixed connection, and may be a detachable connection, or be integrally formed；It can be
Mechanical connection is also possible to be electrically connected or can communicate with each other；It can be directly connected, it can also be indirect by intermediary
It is connected, the connection inside two elements or the interaction relationship of two elements can be made.For the ordinary skill people of this field
For member, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the description of the embodiment of the present invention, it is to be understood that term " inner sidewall ", " bottom end ", " lateral wall " etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.
The embodiment of the present invention description in, it is to be understood that used term " center ", " length ", " width ",
" thickness ", " top ", " bottom end ", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outside" " axis
To ", the indicating positions such as " circumferential direction " or positional relationship be to be based on the orientation or positional relationship shown in the drawings, be merely for convenience of describing
The present invention and simplified description, rather than the position of indication or suggestion meaning or original part must have a particular orientation, with specific
Construction and operation, therefore be not considered as limiting the invention.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (15)
1. a kind of one cartridge characterized by comprising pedestal and the side wall being disposed around on the pedestal；Wherein,
The pedestal is rigid base, and connector is provided on the pedestal, and the connector is used to connect with the car body of unmanned vehicle
It connects；
Be equipped at least one unmanned equipment in the accommodation space that the pedestal and the side wall are surrounded, it is each it is described nobody
Steer is separately positioned on the pedestal or the side wall；Wherein, at least one described unmanned equipment is following classes
One of type is a variety of: calculating class equipment, perception class equipment, positioning class equipment.
2. one cartridge according to claim 1, which is characterized in that be provided with separation layer, institute in the accommodation space
It states separation layer to be divided into the accommodation space at least two layers, every layer is used to accommodate a type of unmanned equipment, and every
The type and other layer of difference of the unmanned equipment of layer accommodating.
3. one cartridge according to claim 2, which is characterized in that there are two isolation for setting in the accommodation space
Layer, described two separation layers are arranged in parallel with the pedestal, and the accommodation space is divided into three layers by described two separation layers；
One layer close to the pedestal is used to accommodate the calculating class equipment, and middle layer is for accommodating positioning class equipment, far from institute
One layer for stating pedestal is used to accommodate the perception class equipment.
4. one cartridge according to claim 3, which is characterized in that the pedestal, the side wall and the isolation
It is respectively arranged with winding slot on layer, the wiring of each unmanned equipment is fastened in the winding slot.
5. one cartridge according to any one of claims 1 to 4, which is characterized in that if the unmanned equipment
Type is perception class equipment；
At least one reserved hole location is provided on the side wall, the relatively described reserved hole location setting of the perception class equipment is described
Reserved hole location is used to supply the perception class devices collect data.
6. one cartridge according to any one of claims 1 to 4, which is characterized in that the pedestal and/or the side wall
On be additionally provided with cooling fin.
7. one cartridge according to any one of claims 1 to 4, which is characterized in that the one cartridge further include:
Roof；
The roof lid is located on the side wall, and the roof at least partly can be separated with the side wall, described in exposure
Accommodation space is at least partly.
8. one cartridge according to claim 7, which is characterized in that the roof and the side wall be detachably connected,
It is rotatablely connected or is slidably connected.
9. one cartridge according to claim 1, which is characterized in that each unmanned equipment respectively with the bottom
Seat or the side wall are connected together, are spirally connected or are connected by fixed part.
10. one cartridge according to any one of claims 1 to 4, which is characterized in that be provided in the accommodation space
Adapter, one end of the adapter are provided with multiple first interfaces, and the other end of the adapter is provided with one second and connects
Mouthful, the wiring of each unmanned equipment can be connect with the multiple first interface, and the second interface is exposed to the appearance
Outside is received, for connecting with data/address bus.
11. one cartridge according to any one of claims 1 to 4, which is characterized in that on the pedestal or the side wall
Cable-through hole is offered, the wiring of each unmanned equipment can be pierced by from the cable-through hole.
12. one cartridge according to claim 1, which is characterized in that the calculating class equipment includes: graphics processor
And central processing unit；The perception class equipment includes: camera, laser radar and infrared equipment, and the positioning class equipment includes:
Global navigation satellite equipment and inertia measurement equipment.
13. a kind of unmanned vehicle characterized by comprising such as the described in any item one cartridges of claim 1 to 12.
14. unmanned vehicle according to claim 13, which is characterized in that the roof of the connector and the unmanned vehicle connects
It connects.
15. unmanned vehicle according to claim 13, which is characterized in that the headstock of the connector and the unmanned vehicle connects
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910586838.6A CN110239447A (en) | 2019-07-01 | 2019-07-01 | One cartridge and unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910586838.6A CN110239447A (en) | 2019-07-01 | 2019-07-01 | One cartridge and unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110239447A true CN110239447A (en) | 2019-09-17 |
Family
ID=67890668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910586838.6A Pending CN110239447A (en) | 2019-07-01 | 2019-07-01 | One cartridge and unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110239447A (en) |
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Application publication date: 20190917 |