WO2021159264A1 - Unmanned sensor integrated device and unmanned system - Google Patents

Unmanned sensor integrated device and unmanned system Download PDF

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Publication number
WO2021159264A1
WO2021159264A1 PCT/CN2020/074680 CN2020074680W WO2021159264A1 WO 2021159264 A1 WO2021159264 A1 WO 2021159264A1 CN 2020074680 W CN2020074680 W CN 2020074680W WO 2021159264 A1 WO2021159264 A1 WO 2021159264A1
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WO
WIPO (PCT)
Prior art keywords
image sensor
nozzle
sensor
airflow
integrated device
Prior art date
Application number
PCT/CN2020/074680
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French (fr)
Chinese (zh)
Inventor
方江成
Original Assignee
深圳元戎启行科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳元戎启行科技有限公司 filed Critical 深圳元戎启行科技有限公司
Priority to CN202080003162.4A priority Critical patent/CN113543899A/en
Priority to PCT/CN2020/074680 priority patent/WO2021159264A1/en
Publication of WO2021159264A1 publication Critical patent/WO2021159264A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/62—Other vehicle fittings for cleaning
    • B60S1/66—Other vehicle fittings for cleaning for cleaning vehicle exterior

Definitions

  • This application relates to the field of unmanned driving, and more specifically to an unmanned driving sensor integrated device and an unmanned driving system.
  • the road condition information is collected through an unmanned driving sensor integrated device including multiple image sensors.
  • the lens of the image sensor is exposed, so the dirt in the environment, such as dust, soil, road salt or other debris, etc., will easily fall on the lens of the image sensor, which will cause the lens of the image sensor to be blocked and affect the image sensor. Accuracy of collected information.
  • a scraping mechanism for cleaning the lens of the sensor is specially set up.
  • there are more linkage elements in the scraping mechanism which in turn leads to a larger volume of the unmanned sensor integrated device.
  • an unmanned driving sensor integrated device is provided.
  • an unmanned driving sensor integration device is provided, and the unmanned driving sensor integration device includes:
  • the sensor assembly includes several image sensors, the image sensors having a lens;
  • the cleaning assembly includes a plurality of cleaning structures respectively corresponding to a plurality of the image sensors one-to-one, the cleaning structure includes a first airflow nozzle; the airflow jetted by the first airflow nozzle can sweep the corresponding image sensor Of the lens.
  • an unmanned driving system includes an unmanned driving sensor integration device; the unmanned driving sensor integration device includes:
  • the sensor assembly includes several image sensors, the image sensors having a lens;
  • the cleaning assembly includes a plurality of cleaning structures respectively corresponding to a plurality of the image sensors one-to-one, the cleaning structure includes a first airflow nozzle; the airflow jetted by the first airflow nozzle can sweep the corresponding image sensor Of the lens.
  • FIG. 1 is a schematic structural diagram of an unmanned driving sensor integration device provided by an embodiment of the application.
  • Fig. 2 is a schematic structural diagram of the unmanned driving sensor integrated device in Fig. 1 in another direction.
  • Fig. 3 is a schematic structural diagram of another direction of the unmanned driving sensor integrated device in Fig. 1.
  • Fig. 4 is a top view of the unmanned driving sensor integrated device in Fig. 1 with part of the housing and sensors removed.
  • Fig. 5 is a partial enlarged view of C in Fig. 4.
  • Fig. 6 is a M-M cross-sectional view of the unmanned driving sensor integrated device in Fig. 1.
  • Fig. 7 is a partial enlarged view of A in Fig. 6.
  • Fig. 8 is a schematic structural diagram of a cleaning structure in the unmanned driving sensor integrated device in Fig. 1.
  • Fig. 9 is a right side view of the structure of the cleaning structure in Fig. 8.
  • FIG. 10 is a top view of the structure of the cleaning structure in FIG. 9.
  • FIG. 11 is a schematic structural diagram of a cleaning structure in an unmanned driving sensor integrated device provided by another embodiment of the application.
  • FIG. 12 is a schematic structural diagram of a cleaning structure in an unmanned driving sensor integrated device provided by another embodiment of the application.
  • Unmanned driving sensor integrated device 110, signal processing unit; 131, lens; 133, air nozzle installation station; 31, first image sensor; 32, second image sensor; 33, third image sensor; 34, The fourth image sensor; 35, the fifth image sensor; 36, the sixth image sensor; 37, the seventh image sensor; 38, the eighth image sensor; 39, the sensor; 150, the cleaning structure; 151, the first air nozzle; 151a , The first nozzle; 151b, the second nozzle; 151c, the third nozzle; 151d, the fourth nozzle; 151e, the fifth nozzle; 151f, the sixth nozzle; 151g, the seventh nozzle; 151h, the eighth nozzle; 1511, enter Air port; 153, mounting base; 1531, first mounting surface; 1533, second mounting surface; 1535, third mounting surface; 1537, fourth mounting surface; 155, air source interface; 157, adjusting piece; 1571 Fifth mounting surface; 1573, connecting surface; 170, housing; 171, mounting surface.
  • the unmanned driving sensor integrated device 100 includes a signal processing unit 110, a sensor component, and a cleaning component.
  • the sensor assembly includes several image sensors, and the image sensor has a lens 131, refer to FIG. 5.
  • several image sensors include a first image sensor 31, a second image sensor 32, a third image sensor 33, a fourth image sensor 34, a fifth image sensor 35, a sixth image sensor 36, and a third image sensor.
  • the seventh image sensor 37 and the eighth image sensor 38 refer to FIG. 4 for details.
  • the sensor assembly may also include less than or more than eight image sensors.
  • the first image sensor 31, the second image sensor 32, the third image sensor 33, the fourth image sensor 34, the fifth image sensor 35, the sixth image sensor 36, and the seventh image sensor are respectively connected with each other.
  • the first airflow nozzles corresponding to 37 and the eighth image sensor 38 are the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g, and the first nozzle 151a.
  • Eight nozzles 151h refer to Figure 4 for details.
  • the cleaning assembly may also include more than eight or less than eight cleaning structures.
  • the cleaning assembly includes more or less than eight first airflow nozzles.
  • the cleaning assembly includes a plurality of cleaning structures 150 corresponding to a plurality of image sensors, respectively.
  • the cleaning structure 150 includes a first airflow nozzle 151.
  • the airflow sprayed from the first airflow nozzle 151 can sweep the lens 131 of the corresponding image sensor, as shown in FIG. 6 for details.
  • the airflow jetted from the first airflow nozzle 151 sweeps the lens 131 of the image sensor, and the dirt that has fallen on the lens 131 of the image sensor is to avoid the dirt from blocking the lens 131 of the image sensor, thereby improving the image sensor's collection of information. Accuracy.
  • the air flow sprayed by the first air flow nozzle 151 can sweep the lens 131 of the corresponding image sensor, which means that the air flow sprayed by the first air flow nozzle 151 can completely sweep the outer surface of the lens 131 of the image sensor to align the lens 131.
  • the outer surface of 131 is completely cleaned.
  • the setting of the cleaning component must not cover the lens 131 of the image sensor, so as to ensure the accuracy of the information collected by the image sensor.
  • refer to the part enclosed by the dotted line in FIG. 1 is a schematic diagram of the air flow m sprayed from the first air flow nozzle 151.
  • the above-mentioned unmanned driving sensor integrated device 100 cleans the lens 131 of the image sensor through the air flow sprayed from the first air flow nozzle 151. There is no need to provide a linkage element, so that the structure of the cleaning assembly is simple, and the structure of the unmanned sensor integration device 100 is simple, the volume of the unmanned sensor integration device 100 is reduced, and the miniaturization of the unmanned sensor integration device 100 is realized.
  • the scraping mechanism includes more components, among which there are also more linkage components, which leads to higher manufacturing, operation and maintenance costs of the scraping mechanism.
  • the structure of the cleaning assembly is simple, so that the manufacturing, operation and maintenance costs of the cleaning assembly are lower.
  • this embodiment cleans the lens 131 by sweeping the airflow across the lens 131 of the image sensor, which can reduce the pressure on the lens 131 of the image sensor, thereby avoiding The lens 131 of the image sensor is damaged due to cleaning.
  • this embodiment cleans the lens 131 by sweeping the airflow across the lens 131 of the image sensor, which can prevent dirt from accumulating on the edge of the lens 131, thereby improving The cleaning effect of the lens 131.
  • the traditional method of cleaning the lens of the image sensor with a scraping mechanism generally requires the use of cleaning fluid to improve the lubrication between the wiper in the scraping mechanism and the lens, and improve the cleaning effect of the lens.
  • some of the chemical components in the general cleaning fluid will pollute the environment.
  • the airflow is used to clean the lens 131, so that no cleaning liquid is needed, which can avoid the pollution of the environment due to the discharge of the cleaning liquid, and can also prevent the image sensor from being blocked by the cleaning liquid on the lens 131 of the image sensor from being wiped clean. , Affect the accuracy of the detection result of the image sensor.
  • each image sensor corresponds to a cleaning structure 150, so that the cleaning effect of each image sensor can be ensured.
  • the image sensors are all located at the periphery of the signal processing unit 110. This avoids the phenomenon that the unmanned driving sensor integrated device 100 has a large thickness due to the superposition of the image sensor and the signal processing unit 110.
  • the image sensor is located at the periphery of the signal processing unit 110, so that the lens 131 of the image sensor is located on the side of the image sensor away from the signal processing unit 110, that is, the lens 131 is located outside the image sensor. Therefore, if the airflow sprayed from the first airflow nozzle 151 can sweep through the lens 131 of the corresponding image sensor, the first airflow nozzle 151 needs to be located outside the image sensor.
  • the first image sensor 31 is located at one side edge of the signal processing unit 110.
  • the viewing angle direction of the first image sensor 31 is set as the first direction N1.
  • the second image sensor 32, the third image sensor 33, and the fourth image sensor 34 are located on the edge of the signal processing unit 110 opposite to the first image sensor 31, and the second image sensor 32, the third image sensor 33, and the fourth image sensor
  • the viewing angle direction of the image sensor 34 is a second direction N2 opposite to the first direction N1.
  • the fifth image sensor 35 and the sixth image sensor 36 are respectively located on both sides of the second image sensor 32, the third image sensor 33, and the fourth image sensor 34, and the viewing angle directions of the fifth sensor and the sixth image sensor 36 are respectively the first Three directions N3 and a fourth direction N4.
  • the third direction N3 and the fourth direction N4 both point to the direction deviating from the second image sensor, and the angle between the third direction N3 and the second direction N2 is an acute angle, and the angle between the fourth direction N4 and the second direction N2 is an acute angle .
  • the seventh image sensor 37 is arranged opposite to the fifth sensor, and the viewing angle direction of the seventh image sensor 37 is the fifth direction N5 opposite to the third direction N3.
  • the eighth image sensor 38 is arranged opposite to the sixth sensor, and the viewing angle direction of the eighth image sensor 38 is a sixth direction N6 opposite to the fourth direction N4. Refer to the direction indicated by the corresponding arrow in FIG. 4 for the viewing angle direction of each image sensor.
  • the viewing angle directions of the second image sensor 32, the third image sensor 33, and the fourth image sensor 34 are the same as the forward direction of the unmanned driving system.
  • the location of the eight image sensors is set reasonably, which can more completely collect road condition information around the unmanned driving system.
  • the arrangement of several image sensors is not limited to this, such as the arrangement of the signal processing unit 110 on the sides of the second image sensor 32, the third image sensor 33, and the fourth image sensor 34 Only two image sensors can be set, or more than three image sensors can be set. According to the road conditions that the unmanned driving system may drive, the road condition information in the driving direction of the unmanned driving system can be clearly collected.
  • the sensor assembly further includes a sensor 39 provided on the signal processing unit 110.
  • Several air nozzle installation stations 133 are provided around the sensor 39.
  • the distance around the unmanned driving system can be more accurately detected without cleaning the outer surface of the sensor 39 Information, there is no need to install an airflow nozzle on the airflow nozzle installation station 133.
  • the air flow nozzle can be set on the air flow nozzle installation station 133 as needed to ensure the accuracy of the information detected by the sensor 39.
  • eight airflow nozzle installation stations 133 are provided around the sensor 39. Among them, there are eight airflow nozzle installation stations 133, in groups of two. The four sets of air nozzle installation stations 133 are evenly distributed around the sensor 39. It can be understood that, in another feasible embodiment, the number of airflow nozzle installation stations 133 arranged around the sensor 39 is not limited to eight, and may be more or less than eight. Similarly, the distribution mode of the airflow nozzle installation stations 133 is not limited to this, so that the airflow nozzles arranged on the airflow nozzles can completely clear the outer wall of the sensor 39.
  • the cleaning assembly further includes a plurality of second airflow nozzles arranged at the airflow nozzle installation station.
  • the air flow sprayed by the second air flow nozzle can be shot to the outer wall of the sensor to clean the outer wall of the sensor.
  • the outer wall of the sensor is ring-shaped, so each second airflow nozzle can only sweep part of the outer wall of the sensor. In other words, at least two airflow nozzles are needed to clean the outer wall of the sensor.
  • the number of installation stations for the second airflow nozzle and the airflow nozzle can be the same or different, so that the second airflow nozzle can completely clean the surroundings of the sensor and ensure that the accuracy of the sensor detection information meets unmanned The needs of driving are sufficient.
  • the structure of the second airflow nozzle and the structure of the first airflow nozzle 151 can be the same or different, and the jetted airflow can be shot to a preset position.
  • the senor 39 may be a sensor for detecting the surrounding environment, such as a laser sensor or a radar sensor. Specifically, it can be a distance sensor, a temperature sensor, or a humidity sensor. in addition,
  • the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, and the sixth nozzle 151f are located in a direction perpendicular to the viewing angle directions of several image sensors.
  • the sensor 39 can be prevented from being blocked by the first airflow nozzle 151, thereby ensuring the accuracy of the detection information of the sensor 39.
  • the distance between the sensor 39 and the image sensor can be made smaller, thereby reducing the height of the unmanned driving sensor integrated device 100 in this direction.
  • the seventh nozzle 151g and the seventh image sensor 37 are distributed along the edge of the corresponding side of the unmanned driving sensor integrated device 100.
  • the eighth nozzle 151h and the eighth image sensor 38 are distributed along the edge of the corresponding side of the unmanned driving sensor integrated device 100.
  • the thickness of the edges of the unmanned driving sensor integrated device 100 where the seventh image sensor 37 and the eighth image sensor 38 are provided is relatively small. If the seventh nozzle 151g and the eighth nozzle 151h are located on the side close to or far from the sensor 39 of the seventh image sensor 37 and the eighth image sensor 38 respectively along the direction perpendicular to the viewing angle directions of several image sensors, it will increase The thickness of the corresponding edge of the driverless sensor integrated device 100. In this embodiment, the seventh nozzle 151g and the seventh image sensor 37 are distributed along the edges of the corresponding side of the unmanned sensor integrated device 100, and the eighth nozzle 151h and the eighth image sensor 38 are distributed along the edge of the unmanned sensor integrated device 100.
  • the edge distribution on the corresponding side will not increase the thickness of the corresponding edge of the driverless sensor integrated device 100 due to the arrangement of the seventh nozzle 151g and the eighth nozzle 151h, that is, the arrangement of the seventh nozzle 151g and the eighth nozzle 151h will not increase.
  • the setting of this affects the demand for miniaturization of the driverless sensor integrated device 100.
  • the first nozzle 151a, the seventh nozzle 151g, and the eighth nozzle 151h are located at the periphery of the seventh image sensor 37 and the eighth image sensor 38, respectively, so that the seventh image sensor 37 and the eighth image sensor 38
  • the distance from the edge of the corresponding side of the driverless sensor integrated device 100 is relatively large, so that the viewing angles of the seventh image sensor 37 and the eighth image sensor 38 are relatively small.
  • the seventh nozzle 151g and the seventh image sensor 37 are distributed along the edge of the corresponding side of the unmanned driving sensor integrated device 100
  • the eighth nozzle 151h and the eighth image sensor 38 are also distributed along the edge of the unmanned driving sensor integrated device 100.
  • the edges of the corresponding sides are distributed so that the distances between the seventh image sensor 37 and the eighth image sensor 38 and the edges of the corresponding sides of the unmanned driving sensor integrated device 100 are small, so as to increase the seventh image sensor 37 and the eighth image sensor 38.
  • the viewing angle of the eighth image sensor 38 is the same.
  • the first airflow nozzle 151 is located on the side of the image sensor away from the sensor 39 in a direction perpendicular to the viewing angle directions of the several image sensors.
  • the sensor 39 can be prevented from being blocked by the first airflow nozzle 151, thereby ensuring the accuracy of the detection information of the sensor 39.
  • the distance between the sensor 39 and the image sensor can be made smaller, thereby reducing the height of the unmanned driving sensor integrated device 100 in this direction.
  • the unmanned driving sensor integrated device 100 further includes a housing 170.
  • the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g, and the eighth nozzle 151h are all partially buried in the housing 170.
  • the outer surface structure of the integrated device 100 is complex, that is, the outer surface structure of the unmanned driving sensor integrated device 100 is simple, thereby achieving an aesthetic effect.
  • the housing 170 can also support the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g, and the eighth nozzle 151h.
  • the unmanned driving sensor integrated device 100 further includes a housing 170, and the cleaning structure 150 is detachably connected to the housing 170.
  • the cleaning structure 150 can be disassembled to facilitate cleaning of the first airflow nozzle 151 or to replace the cleaning structure 150 with a new one.
  • the first airflow nozzle is detachably connected to the housing. Therefore, when the first airflow nozzle is blocked, only the first airflow nozzle can be disassembled. In order to clean the first air nozzle or replace with a new first air nozzle.
  • the cleaning structure 150 further includes a mounting base 153 fixedly arranged on the housing 170.
  • the first air nozzle 151 is fixed on the corresponding mounting base 153. That is, the fixing of the first airflow nozzle 151 is realized by the fixed connection between the mounting base 153 and the housing 170. Avoid the phenomenon that the first airflow nozzle 151 has a small structure and cannot be stably fixed. It also avoids the phenomenon that the first air flow nozzle 151 and the housing 170 cannot be matched and installed.
  • the mounting base 153 has a first mounting surface 1531 and a second mounting surface 1533 that match the housing 170.
  • the housing 170 is provided with two mounting surfaces 171 matching the first mounting surface 1531 and the second mounting surface 1533 respectively.
  • the mounting base 153 is fixed to the housing 170 through the first mounting surface 1531 and the second mounting surface 1533, which can maintain the installation stability of the mounting base 153, and also limit the position of the mounting base 153 well. Position function, so that the first mounting surface 1531 and the second mounting surface 1533 can be quickly mounted on the housing 170.
  • the interaction force between the first mounting surface 1531 and the second mounting surface 1533 and the housing 170 can be made smaller, so as to avoid The force on the mounting base 153 is concentrated on one side.
  • first mounting surface 1531 and the second mounting surface 1533 are not perpendicular or parallel. In another feasible embodiment, the first mounting surface 1531 and the second mounting surface 1533 may also be vertical or parallel.
  • the mounting base 153 also has a third mounting surface 1535 and a fourth mounting surface 1537 that are parallel to each other. Therefore, when there are two mounting surfaces matching the third mounting surface and the fourth mounting surface in the housing of another driverless sensor integrated device, the cleaning structure is also applicable to the driverless sensor integrated device;
  • the mounting surface for installing the cleaning structure can be exactly the same as one of the first mounting surface 1531, the second mounting surface 1533, the third mounting surface 1535, and the fourth mounting surface 1537.
  • the cleaning structure 150 is also suitable for the unmanned sensor integrated device. That is, the arrangement of the third mounting surface 1535 and the fourth mounting surface 1537 further increases the scope of application of the cleaning structure 150.
  • the number of mounting surfaces provided by the mounting base is not limited to four, and can also be three or more than four.
  • the first airflow nozzle 151 has an air inlet 1511.
  • the mounting base 153 is provided with an air source interface 155 communicating with the air inlet 1511 of the first airflow nozzle 151. That is, it is connected to the gas delivery device through the gas source interface 155, and then the gas is delivered to the first gas flow nozzle 151 and sprayed onto the lens 131 of the image sensor.
  • the cleaning mechanism includes at least two air source ports of different models, and the at least two air source ports can be detachably connected to the mounting base. Therefore, different gas source interfaces can be selected according to different gas transmission equipment, that is, the scope of application of the cleaning mechanism is improved.
  • the air source interface is provided with a filter screen.
  • the gas input into the first airflow nozzle is filtered, thereby preventing the airflow channel of the first airflow nozzle from being blocked, thereby ensuring the smooth ejection of the airflow.
  • the filter screen can filter out impurities in the airflow, so as to avoid damage to the lens of the image sensor when the airflow jetted from the first airflow nozzle hits the lens of the image sensor.
  • the filter screen can filter out the impurities in the airflow, thereby increasing the purity of the airflow sprayed by the first airflow nozzle, and thus can better realize the cleaning of the lens of the image sensor.
  • the filter screen may also be arranged at the air inlet of the first airflow nozzle or the like.
  • the angle between the airflow sprayed by the first airflow nozzle and the lens 131 of the corresponding image sensor is 30 degrees to 45 degrees, that is, the angle p in FIGS. 5 and 7 is 30 degrees to 45 degrees. It can prevent the first airflow nozzle from blocking the corresponding image sensor; it can also ensure that the airflow sprayed by the first airflow nozzle achieves a cleaning effect on the lens 131.
  • the included angle between the airflow sprayed by each first airflow nozzle and the corresponding image sensor may be the same or different, and it may be set according to specific requirements.
  • the airflow spraying direction of the first airflow nozzle is adjustable.
  • the side wall of the ejection outlet of the first airflow nozzle is adjustable, so that the airflow ejection direction of the first airflow nozzle is adjustable.
  • the first airflow nozzle can be rotatably arranged on the mounting base, so that the airflow spraying direction of the first airflow nozzle can be adjusted.
  • the direction of the airflow from the first airflow nozzle can be adjusted so that the airflow from the first airflow nozzle can sweep the lens of the corresponding image sensor.
  • the cleaning assembly further includes a gas compressor; the gas compressor has an air outlet, the first airflow nozzle has an air inlet, and the air outlet is in communication with the air inlet of the first airflow nozzle .
  • the gas compressed by the gas compressor can be delivered to the first gas flow nozzle.
  • the air outlet of the gas compressor may be directly connected to the air inlet of the first air flow nozzle, or communicated with the air inlet of the first air flow nozzle through other elements having air flow channels.
  • the gas compressor is an air compressor. That is, the lens of the image sensor can be cleaned by compressed air without using other cleaning fluids, etc., convenient to access, low cost, and does not pollute the environment.
  • the included angle between the first mounting surface and the second mounting surface of the mounting base is adjustable, thereby increasing the scope of application of the cleaning structure.
  • the mounting base includes a first split body with a first mounting surface and a second split body with a second mounting surface.
  • the first split body and the second split body are rotatably connected to realize the adjustable angle between the first mounting surface and the second mounting surface.
  • the rotation of the first split body and the second split body need not affect the air flow conveyance.
  • the cleaning structure 150 of the unmanned sensor integrated device provided by another embodiment of the present application is different from the cleaning structure 150 of the unmanned sensor integrated device 100 in that the cleaning structure 150 also includes a mounting base.
  • the adjusting member 157 is detachably connected to the first mounting surface 1531 of the 153.
  • the adjusting member 157 has a fifth mounting surface 1571 that is exposed. Therefore, the scope of application of the cleaning structure 150 can be improved by installing or disassembling the adjusting member 157.
  • the adjusting plate has a connecting surface 1573 connected to the first mounting surface 1531 of the main body, and the connecting surface 1573 is parallel to the fifth mounting surface 1571.
  • the fifth mounting surface 1571 and the connecting surface 1573 may not be parallel.
  • the included angle between the fifth mounting surface 1571 and the second mounting surface 1533 is different from the included angle between the first mounting surface 1531 and the second mounting surface 1533, as shown in Figure 12 Show.
  • the cleaning structure 150 may also include at least two adjusting members 157. On the two adjusting members 157, the angle or distance between the fifth mounting surface 1571 and the connecting surface 1573 is different, so that by installing different adjusting members 157 on the mounting base 153, the scope of application of the cleaning structure 150 is increased.
  • An embodiment of the present application also provides an unmanned driving system, which includes the unmanned driving sensor integrated device provided in the present application.
  • the unmanned driving sensor integrated device provided in the present application.
  • the unmanned sensor integrated device in the above-mentioned unmanned driving system cleans the lens of the image sensor through the air flow sprayed from the first air flow nozzle. There is no need to provide a linkage element, so that the structure of the cleaning assembly is simple, and the structure of the unmanned sensor integrated device is simple, the volume of the unmanned sensor integrated device is reduced, and the miniaturization of the unmanned sensor integrated device is realized.
  • the unmanned driving system further includes a walking body, and the unmanned driving sensor integrated device is located on the top of the walking body.

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Abstract

An unmanned sensor integrated device, comprising: a signal processing unit; a sensor assembly, which comprises a plurality of image sensors, wherein each image sensor is provided with a lens; and a cleaning assembly, which comprises a plurality of cleaning structures respectively corresponding to the plurality of image sensors on a one-to-one basis, wherein each cleaning structure comprises a first airflow nozzle, and an airflow sprayed by the first airflow nozzle can sweep over the lens of a corresponding image sensor.

Description

无人驾驶传感器集成装置及无人驾驶***Unmanned driving sensor integration device and unmanned driving system 技术领域Technical field
本申请涉及无人驾驶领域，更具体地涉及无人驾驶传感器集成装置及无人驾驶***。This application relates to the field of unmanned driving, and more specifically to an unmanned driving sensor integrated device and an unmanned driving system.
背景技术Background technique
传统的无人驾驶***中，多通过包括多个图像传感器的无人驾驶传感器集成装置来采集路况信息。一般地，图像传感器的镜头裸露，故环境中的脏污，如灰尘、泥土、路盐或其他碎屑等，容易落在图像传感器的镜头上，从而导致图像传感器的镜头被遮挡，影响图像传感器采集信息的准确性。传统的无人驾驶传感器集成装置中，为了解决这一问题，专门设置了用以清洁传感器的镜头的刮擦机构。然而，为了实现刮擦结构的刮擦过程，刮擦机构中的联动元件较多，进而导致无人驾驶传感器集成装置的体积较大。In the traditional unmanned driving system, the road condition information is collected through an unmanned driving sensor integrated device including multiple image sensors. Generally, the lens of the image sensor is exposed, so the dirt in the environment, such as dust, soil, road salt or other debris, etc., will easily fall on the lens of the image sensor, which will cause the lens of the image sensor to be blocked and affect the image sensor. Accuracy of collected information. In order to solve this problem in the traditional unmanned sensor integrated device, a scraping mechanism for cleaning the lens of the sensor is specially set up. However, in order to achieve the scraping process of the scraping structure, there are more linkage elements in the scraping mechanism, which in turn leads to a larger volume of the unmanned sensor integrated device.
发明内容Summary of the invention
这里的陈述仅提供与本申请有关的背景信息，而不必然构成现有技术。The statements here only provide background information related to this application, and do not necessarily constitute prior art.
根据本申请的各种实施例，提供无人驾驶传感器集成装置。According to various embodiments of the present application, an unmanned driving sensor integrated device is provided.
根据本申请的一个方面，提供了一种无人驾驶传感器集成装置，所述无人驾驶传感器集成装置包括：According to an aspect of the present application, an unmanned driving sensor integration device is provided, and the unmanned driving sensor integration device includes:
信号处理单元；Signal processing unit;
传感器组件，包括若干个图像传感器，所述图像传感器具有镜头；以及The sensor assembly includes several image sensors, the image sensors having a lens; and
清洁组件，包括若干个分别与若干个所述图像传感器一一对应的清洁结构，所述清洁结构包括第一气流喷嘴；所述第一气流喷嘴喷出的气流可 扫过对应的所述图像传感器的镜头。The cleaning assembly includes a plurality of cleaning structures respectively corresponding to a plurality of the image sensors one-to-one, the cleaning structure includes a first airflow nozzle; the airflow jetted by the first airflow nozzle can sweep the corresponding image sensor Of the lens.
根据本申请的另一个方面，提供了一种无人驾驶***，所述无人驾驶***包括无人驾驶传感器集成装置；所述无人驾驶传感器集成装置包括：According to another aspect of the present application, an unmanned driving system is provided. The unmanned driving system includes an unmanned driving sensor integration device; the unmanned driving sensor integration device includes:
信号处理单元；Signal processing unit;
传感器组件，包括若干个图像传感器，所述图像传感器具有镜头；以及The sensor assembly includes several image sensors, the image sensors having a lens; and
清洁组件，包括若干个分别与若干个所述图像传感器一一对应的清洁结构，所述清洁结构包括第一气流喷嘴；所述第一气流喷嘴喷出的气流可扫过对应的所述图像传感器的镜头。The cleaning assembly includes a plurality of cleaning structures respectively corresponding to a plurality of the image sensors one-to-one, the cleaning structure includes a first airflow nozzle; the airflow jetted by the first airflow nozzle can sweep the corresponding image sensor Of the lens.
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其他特征、目的和优点将从说明书、附图以及权利要求书变得明显。The details of one or more embodiments of the present application are set forth in the following drawings and description. Other features, purposes and advantages of this application will become apparent from the description, drawings and claims.
附图说明Description of the drawings
为了更好地描述和说明这里公开的那些发明的实施例或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的发明、目前描述的实施例或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。In order to better describe and explain the embodiments or examples of those inventions disclosed herein, one or more drawings may be referred to. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the currently described embodiments or examples, and the best mode of these inventions currently understood.
图1为本申请一实施例提供的无人驾驶传感器集成装置的结构示意图。FIG. 1 is a schematic structural diagram of an unmanned driving sensor integration device provided by an embodiment of the application.
图2为图1中无人驾驶传感器集成装置的另一方向的结构示意图。Fig. 2 is a schematic structural diagram of the unmanned driving sensor integrated device in Fig. 1 in another direction.
图3为图1中无人驾驶传感器集成装置的再一方向的结构示意图。Fig. 3 is a schematic structural diagram of another direction of the unmanned driving sensor integrated device in Fig. 1.
图4为图1中无人驾驶传感器集成装置去掉部分壳体和传感器后的俯视图。Fig. 4 is a top view of the unmanned driving sensor integrated device in Fig. 1 with part of the housing and sensors removed.
图5为图4中C的局部放大图。Fig. 5 is a partial enlarged view of C in Fig. 4.
图6为图1中无人驾驶传感器集成装置的M-M向剖视图。Fig. 6 is a M-M cross-sectional view of the unmanned driving sensor integrated device in Fig. 1.
图7为图6中A的局部放大图。Fig. 7 is a partial enlarged view of A in Fig. 6.
图8为图1中无人驾驶传感器集成装置中的清洁结构的结构示意图。Fig. 8 is a schematic structural diagram of a cleaning structure in the unmanned driving sensor integrated device in Fig. 1.
图9为图8中清洁结构的结构右视图。Fig. 9 is a right side view of the structure of the cleaning structure in Fig. 8.
图10为图9中清洁结构的结构俯视图。FIG. 10 is a top view of the structure of the cleaning structure in FIG. 9.
图11为本申请另一实施例提供的无人驾驶传感器集成装置中的清洁结构的结构示意图。FIG. 11 is a schematic structural diagram of a cleaning structure in an unmanned driving sensor integrated device provided by another embodiment of the application.
图12为本申请另一实施例提供的无人驾驶传感器集成装置中的清洁结构的结构示意图。FIG. 12 is a schematic structural diagram of a cleaning structure in an unmanned driving sensor integrated device provided by another embodiment of the application.
100、无人驾驶传感器集成装置；110、信号处理单元；131、镜头；133、气流喷嘴安装工位；31、第一图像传感器；32、第二图像传感器；33、第三图像传感器；34、第四图像传感器；35、第五图像传感器；36、第六图像传感器；37、第七图像传感器；38、第八图像传感器；39、传感器；150、清洁结构；151、第一气流喷嘴；151a、第一喷嘴；151b、第二喷嘴；151c、第三喷嘴；151d、第四喷嘴；151e、第五喷嘴；151f、第六喷嘴；151g、第七喷嘴；151h、第八喷嘴；1511、进气口；153、安装基座；1531、第一安装面；1533、第二安装面；1535、第三安装面；1537、第四安装面；155、气源接口；157、调节件；1571、第五安装面；1573、连接面；170、壳体；171、安装面。100. Unmanned driving sensor integrated device; 110, signal processing unit; 131, lens; 133, air nozzle installation station; 31, first image sensor; 32, second image sensor; 33, third image sensor; 34, The fourth image sensor; 35, the fifth image sensor; 36, the sixth image sensor; 37, the seventh image sensor; 38, the eighth image sensor; 39, the sensor; 150, the cleaning structure; 151, the first air nozzle; 151a , The first nozzle; 151b, the second nozzle; 151c, the third nozzle; 151d, the fourth nozzle; 151e, the fifth nozzle; 151f, the sixth nozzle; 151g, the seventh nozzle; 151h, the eighth nozzle; 1511, enter Air port; 153, mounting base; 1531, first mounting surface; 1533, second mounting surface; 1535, third mounting surface; 1537, fourth mounting surface; 155, air source interface; 157, adjusting piece; 1571 Fifth mounting surface; 1573, connecting surface; 170, housing; 171, mounting surface.
具体实施方式Detailed ways
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions, and advantages of this application clearer and clearer, the following further describes the application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的 表述只是为了说明的目的，并不表示是唯一的实施方式。It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or a central element may also exist. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not meant to be the only embodiments.
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered as the range described in this specification.
如图1至图10所示，本申请一实施例提供的无人驾驶传感器集成装置100，包括信号处理单元110、传感器组件以及清洁组件。其中，传感器组件包括若干个图像传感器，图像传感器具有镜头131，参图5。具体地，本实施例中，若干个图像传感器包括第一图像传感器31、第二图像传感器32、第三图像传感器33、第四图像传感器34、第五图像传感器35、第六图像传感器36、第七图像传感器37和第八图像传感器38，详参图4。当然，在另外可行的实施例中，传感器组件还可以包括少于或多于八个的图像传感器。As shown in FIGS. 1 to 10, the unmanned driving sensor integrated device 100 provided by an embodiment of the present application includes a signal processing unit 110, a sensor component, and a cleaning component. Among them, the sensor assembly includes several image sensors, and the image sensor has a lens 131, refer to FIG. 5. Specifically, in this embodiment, several image sensors include a first image sensor 31, a second image sensor 32, a third image sensor 33, a fourth image sensor 34, a fifth image sensor 35, a sixth image sensor 36, and a third image sensor. The seventh image sensor 37 and the eighth image sensor 38, refer to FIG. 4 for details. Of course, in other feasible embodiments, the sensor assembly may also include less than or more than eight image sensors.
相应地，本实施例中，分别与第一图像传感器31、第二图像传感器32、第三图像传感器33、第四图像传感器34、第五图像传感器35、第六图像传感器36、第七图像传感器37和第八图像传感器38对应的第一气流喷嘴为第一喷嘴151a、第二喷嘴151b、第三喷嘴151c、第四喷嘴151d、第五喷嘴151e、第六喷嘴151f、第七喷嘴151g和第八喷嘴151h，详参图4。Correspondingly, in this embodiment, the first image sensor 31, the second image sensor 32, the third image sensor 33, the fourth image sensor 34, the fifth image sensor 35, the sixth image sensor 36, and the seventh image sensor are respectively connected with each other. The first airflow nozzles corresponding to 37 and the eighth image sensor 38 are the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g, and the first nozzle 151a. Eight nozzles 151h, refer to Figure 4 for details.
当然，在另外可行的实施例中，清洁组件还可以包括多于八个或少于八个的清洁结构，相应地，清洁组件包括多于八个或少于八个的第一气流喷嘴。Of course, in another feasible embodiment, the cleaning assembly may also include more than eight or less than eight cleaning structures. Correspondingly, the cleaning assembly includes more or less than eight first airflow nozzles.
参图1至3、5至10所示，清洁组件包括若干个分别与若干个图像传感器一一对应的清洁结构150。清洁结构150包括第一气流喷嘴151。第一气流喷嘴151喷出的气流可扫过对应的图像传感器的镜头131，详参图6。 通过第一气流喷嘴151喷出的气流扫过图像传感器的镜头131，已经落在图像传感器的镜头131上的脏污，即避免脏污对图像传感器的镜头131的遮挡，从而提高图像传感器采集信息的准确性。As shown in FIGS. 1 to 3 and 5 to 10, the cleaning assembly includes a plurality of cleaning structures 150 corresponding to a plurality of image sensors, respectively. The cleaning structure 150 includes a first airflow nozzle 151. The airflow sprayed from the first airflow nozzle 151 can sweep the lens 131 of the corresponding image sensor, as shown in FIG. 6 for details. The airflow jetted from the first airflow nozzle 151 sweeps the lens 131 of the image sensor, and the dirt that has fallen on the lens 131 of the image sensor is to avoid the dirt from blocking the lens 131 of the image sensor, thereby improving the image sensor's collection of information. Accuracy.
可以理解的是，第一气流喷嘴151喷出的气流可扫过对应的图像传感器的镜头131，指第一气流喷嘴151喷出的气流可完全扫过图像传感器的镜头131外表面，以对镜头131的外表面进行完全的清洁。另外，清洁组件的设置，需不能遮挡图像传感器的镜头131，从而确保图像传感器采集信息的准确性。具体参图1中虚线围成的部分即为第一气流喷嘴151喷出的气流m示意图。It can be understood that the air flow sprayed by the first air flow nozzle 151 can sweep the lens 131 of the corresponding image sensor, which means that the air flow sprayed by the first air flow nozzle 151 can completely sweep the outer surface of the lens 131 of the image sensor to align the lens 131. The outer surface of 131 is completely cleaned. In addition, the setting of the cleaning component must not cover the lens 131 of the image sensor, so as to ensure the accuracy of the information collected by the image sensor. For details, refer to the part enclosed by the dotted line in FIG. 1 is a schematic diagram of the air flow m sprayed from the first air flow nozzle 151.
上述无人驾驶传感器集成装置100，通过第一气流喷嘴151喷出的气流对图像传感器的镜头131进行清洁。无需设置联动元件，从而使得清洁组件的结构简单，进而使得无人驾驶传感器集成装置100的结构简单，减小无人驾驶传感器集成装置100的体积，实现无人驾驶传感器集成装置100的小型化。The above-mentioned unmanned driving sensor integrated device 100 cleans the lens 131 of the image sensor through the air flow sprayed from the first air flow nozzle 151. There is no need to provide a linkage element, so that the structure of the cleaning assembly is simple, and the structure of the unmanned sensor integration device 100 is simple, the volume of the unmanned sensor integration device 100 is reduced, and the miniaturization of the unmanned sensor integration device 100 is realized.
另外，传统的采用刮擦机构清洁图像传感器的镜头的方式，刮擦机构中包括的元件较多，其中联动元件也较多，从而导致刮擦机构的制造、运行和维护的成本均较高。而本申请中，清洁组件中无需设置联动元件，且清洁组件的结构简单，从而使得清洁组件的制造、运行和维护的成本较低。In addition, in the traditional way of cleaning the lens of the image sensor by a scraping mechanism, the scraping mechanism includes more components, among which there are also more linkage components, which leads to higher manufacturing, operation and maintenance costs of the scraping mechanism. However, in the present application, there is no need to provide a linkage element in the cleaning assembly, and the structure of the cleaning assembly is simple, so that the manufacturing, operation and maintenance costs of the cleaning assembly are lower.
相较于传统的采用刮擦机构清洁图像传感器的镜头的方式，本实施例通过气流扫过图像传感器的镜头131的方式来清洁镜头131，可以减小对图像传感器的镜头131的压力，进而避免图像传感器的镜头131因清洁而被损伤。Compared with the traditional method of cleaning the lens of the image sensor with a scraping mechanism, this embodiment cleans the lens 131 by sweeping the airflow across the lens 131 of the image sensor, which can reduce the pressure on the lens 131 of the image sensor, thereby avoiding The lens 131 of the image sensor is damaged due to cleaning.
相较于传统的采用刮擦机构清洁图像传感器的镜头的方式，本实施例通过气流扫过图像传感器的镜头131的方式来清洁镜头131，可以避免脏污在镜头131的边缘堆积，从而能够提高镜头131的清洁效果。Compared with the traditional method of cleaning the lens of the image sensor with a scraping mechanism, this embodiment cleans the lens 131 by sweeping the airflow across the lens 131 of the image sensor, which can prevent dirt from accumulating on the edge of the lens 131, thereby improving The cleaning effect of the lens 131.
传统的采用刮擦机构清洁图像传感器的镜头的方式，一般需要使用清 洗液提高刮擦机构中的挂擦件与镜头之间的润滑作用，且提高镜头的清洗效果。然而，一般的清洗液中的部分化学成分会对环境造成污染。而本申请中，通过气流清洁镜头131，不再需要清洗液，从而可以避免因清洗液排出而污染环境的现象，也可以避免因图像传感器的镜头131上的清洗液未擦干净而遮挡图像传感器，影响图像传感器的检测结果的准确性。The traditional method of cleaning the lens of the image sensor with a scraping mechanism generally requires the use of cleaning fluid to improve the lubrication between the wiper in the scraping mechanism and the lens, and improve the cleaning effect of the lens. However, some of the chemical components in the general cleaning fluid will pollute the environment. In this application, the airflow is used to clean the lens 131, so that no cleaning liquid is needed, which can avoid the pollution of the environment due to the discharge of the cleaning liquid, and can also prevent the image sensor from being blocked by the cleaning liquid on the lens 131 of the image sensor from being wiped clean. , Affect the accuracy of the detection result of the image sensor.
再者，每个图像传感器均对应一个清洁结构150，从而可以保证每个图像传感器的清洁效果。Furthermore, each image sensor corresponds to a cleaning structure 150, so that the cleaning effect of each image sensor can be ensured.
参图4，本实施例中，图像传感器均位于信号处理单元110的***。从而避免因图像传感器与信号处理单元110的叠加而导致无人驾驶传感器集成装置100的厚度较大的现象。Referring to FIG. 4, in this embodiment, the image sensors are all located at the periphery of the signal processing unit 110. This avoids the phenomenon that the unmanned driving sensor integrated device 100 has a large thickness due to the superposition of the image sensor and the signal processing unit 110.
可以理解的是，图像传感器位于信号处理单元110的***，从而图像传感器的镜头131位于图像传感器的远离信号处理单元110的一侧，即镜头131位于图像传感器的外侧。故欲使第一气流喷嘴151喷出的气流可扫过对应的图像传感器的镜头131，需使第一气流喷嘴151位于图像传感器的外侧。It can be understood that the image sensor is located at the periphery of the signal processing unit 110, so that the lens 131 of the image sensor is located on the side of the image sensor away from the signal processing unit 110, that is, the lens 131 is located outside the image sensor. Therefore, if the airflow sprayed from the first airflow nozzle 151 can sweep through the lens 131 of the corresponding image sensor, the first airflow nozzle 151 needs to be located outside the image sensor.
具体地，参图4，本实施例中，第一图像传感器31位于信号处理单元110的一侧边缘。设定第一图像传感器31的视角方向为第一方向N1。第二图像传感器32、第三图像传感器33和第四图像传感器34位于信号处理单元110的与第一图像传感器31相反的一侧边缘，且第二图像传感器32、第三图像传感器33和第四图像传感器34的视角方向为与第一方向N1反向的第二方向N2。第五图像传感器35和第六图像传感器36分别位于第二图像传感器32、第三图像传感器33和第四图像传感器34的两侧，且第五传感器和第六图像传感器36的视角方向分别为第三方向N3和第四方向N4。第三方向N3和第四方向N4均指向偏离第二图像传感器的方向，且，第三方向N3与第二方向N2的夹角为锐角，第四方向N4与第二方向N2的夹角为锐角。第七图像传感器37与第五传感器相背设置，且第七图像传感器 37的视角方向为与第三方向N3反向的第五方向N5。第八图像传感器38与第六传感器相背设置，且第八图像传感器38的视角方向为与第四方向N4反向的第六方向N6。各个图像传感器的视角方向参图4中对应的箭头所指的方向。Specifically, referring to FIG. 4, in this embodiment, the first image sensor 31 is located at one side edge of the signal processing unit 110. The viewing angle direction of the first image sensor 31 is set as the first direction N1. The second image sensor 32, the third image sensor 33, and the fourth image sensor 34 are located on the edge of the signal processing unit 110 opposite to the first image sensor 31, and the second image sensor 32, the third image sensor 33, and the fourth image sensor The viewing angle direction of the image sensor 34 is a second direction N2 opposite to the first direction N1. The fifth image sensor 35 and the sixth image sensor 36 are respectively located on both sides of the second image sensor 32, the third image sensor 33, and the fourth image sensor 34, and the viewing angle directions of the fifth sensor and the sixth image sensor 36 are respectively the first Three directions N3 and a fourth direction N4. The third direction N3 and the fourth direction N4 both point to the direction deviating from the second image sensor, and the angle between the third direction N3 and the second direction N2 is an acute angle, and the angle between the fourth direction N4 and the second direction N2 is an acute angle . The seventh image sensor 37 is arranged opposite to the fifth sensor, and the viewing angle direction of the seventh image sensor 37 is the fifth direction N5 opposite to the third direction N3. The eighth image sensor 38 is arranged opposite to the sixth sensor, and the viewing angle direction of the eighth image sensor 38 is a sixth direction N6 opposite to the fourth direction N4. Refer to the direction indicated by the corresponding arrow in FIG. 4 for the viewing angle direction of each image sensor.
具体在无人驾驶***行驶过程中，第二图像传感器32、第三图像传感器33和第四图像传感器34的视角方向，与无人驾驶***的前进方向相同。本实施例中，八个图像传感器的位置设置合理，可以更加完整的采集无人驾驶***周围路况信息。Specifically, during the driving process of the unmanned driving system, the viewing angle directions of the second image sensor 32, the third image sensor 33, and the fourth image sensor 34 are the same as the forward direction of the unmanned driving system. In this embodiment, the location of the eight image sensors is set reasonably, which can more completely collect road condition information around the unmanned driving system.
可以理解的是，在另外可行的实施例中，若干个图像传感器的设置不限于此，如信号处理单元110的设置第二图像传感器32、第三图像传感器33和第四图像传感器34的侧边，可以仅设置两个图像传感器，或设置多于三个的图像传感器，根据无人驾驶***可能行驶的路况，能清楚的采集无人驾驶***行驶方向前方的路况信息即可。It can be understood that, in another feasible embodiment, the arrangement of several image sensors is not limited to this, such as the arrangement of the signal processing unit 110 on the sides of the second image sensor 32, the third image sensor 33, and the fourth image sensor 34 Only two image sensors can be set, or more than three image sensors can be set. According to the road conditions that the unmanned driving system may drive, the road condition information in the driving direction of the unmanned driving system can be clearly collected.
参图4，本实施例中，传感器组件还包括设于信号处理单元110上的传感器39。传感器39周围设有若干个气流喷嘴安装工位133。一般地，当设有无人驾驶传感器集成装置100的无人驾驶***的可能的行驶环境均较好时，无需对传感器39的外表面进行清洁也能较准确的检测无人驾驶***周围的距离信息，则无需在气流喷嘴安装工位133上设置气流喷嘴。当设有无人驾驶传感器集成装置100的无人驾驶***的可能的行驶环境较差时，可根据需要在气流喷嘴安装工位133上设置气流喷嘴，以保证传感器39检测信息的准确性。Referring to FIG. 4, in this embodiment, the sensor assembly further includes a sensor 39 provided on the signal processing unit 110. Several air nozzle installation stations 133 are provided around the sensor 39. Generally, when the possible driving environment of the unmanned driving system equipped with the unmanned driving sensor integration device 100 is good, the distance around the unmanned driving system can be more accurately detected without cleaning the outer surface of the sensor 39 Information, there is no need to install an airflow nozzle on the airflow nozzle installation station 133. When the possible driving environment of the unmanned driving system equipped with the unmanned sensor integration device 100 is poor, the air flow nozzle can be set on the air flow nozzle installation station 133 as needed to ensure the accuracy of the information detected by the sensor 39.
具体地，本实施例中，传感器39周围设有八个气流喷嘴安装工位133。其中，八个气流喷嘴安装工位133，两两一组。四组气流喷嘴安装工位133均匀分布于传感器39的周围。可以理解的是，在另外可行的实施例中，在传感器39的周围设置的气流喷嘴安装工位133的个数不限于八个，还可以多于或少于八个。同样的，气流喷嘴安装工位133的分布方式也不限于此， 使得设于其上的气流喷嘴能够完全清晰传感器39的外壁即可。Specifically, in this embodiment, eight airflow nozzle installation stations 133 are provided around the sensor 39. Among them, there are eight airflow nozzle installation stations 133, in groups of two. The four sets of air nozzle installation stations 133 are evenly distributed around the sensor 39. It can be understood that, in another feasible embodiment, the number of airflow nozzle installation stations 133 arranged around the sensor 39 is not limited to eight, and may be more or less than eight. Similarly, the distribution mode of the airflow nozzle installation stations 133 is not limited to this, so that the airflow nozzles arranged on the airflow nozzles can completely clear the outer wall of the sensor 39.
可选地，在另外可行的实施例中，清洁组件还包括若干个设于气流喷嘴安装工位的第二气流喷嘴。第二气流喷嘴喷出的气流可射至传感器的外壁，以对传感器的外壁进行清洁。可以理解的是，传感器的外壁呈环状，故每个第二气流喷嘴仅能扫过传感器的部分外壁。换言之，需要至少两个气流喷嘴，才能实现对传感器的外壁的清洁。Optionally, in another feasible embodiment, the cleaning assembly further includes a plurality of second airflow nozzles arranged at the airflow nozzle installation station. The air flow sprayed by the second air flow nozzle can be shot to the outer wall of the sensor to clean the outer wall of the sensor. It can be understood that the outer wall of the sensor is ring-shaped, so each second airflow nozzle can only sweep part of the outer wall of the sensor. In other words, at least two airflow nozzles are needed to clean the outer wall of the sensor.
进一步地，可选地，第二气流喷嘴与气流喷嘴安装工位的个数可以相同，也可以不同，使得第二气流喷嘴能够完整的清洗传感器的周围，保证传感器检测信息的精确度满足无人驾驶的需求即可。Further, optionally, the number of installation stations for the second airflow nozzle and the airflow nozzle can be the same or different, so that the second airflow nozzle can completely clean the surroundings of the sensor and ensure that the accuracy of the sensor detection information meets unmanned The needs of driving are sufficient.
可以理解的是，第二气流喷嘴的结构与第一气流喷嘴151的结构可以相同，也可以不同，喷出的气流能射至预设的位置即可。It can be understood that the structure of the second airflow nozzle and the structure of the first airflow nozzle 151 can be the same or different, and the jetted airflow can be shot to a preset position.
具体地，可选地，传感器39可以是激光传感器或雷达传感器等用于检测周围环境的传感器。其具体可以是距离传感器、温度传感器或湿度传感器等。另外，Specifically, optionally, the sensor 39 may be a sensor for detecting the surrounding environment, such as a laser sensor or a radar sensor. Specifically, it can be a distance sensor, a temperature sensor, or a humidity sensor. in addition,
本实施例中，在与若干个图像传感器的视角方向均垂直的方向，第一喷嘴151a、第二喷嘴151b、第三喷嘴151c、第四喷嘴151d、第五喷嘴151e和第六喷嘴151f分别位于第一图像传感器31、第二图像传感器32、第三图像传感器33、第四图像传感器34、第五图像传感器35和第六图像传感器36的远离传感器39的一侧。一方面，可以避免第一气流喷嘴151遮挡传感器39，从而保证传感器39的检测信息的准确性。另一方面，在与若干个图像传感器的视角方向均垂直的方向，可以使得传感器39与图像传感器之间的距离较小，进而减小无人驾驶传感器集成装置100在该方向的高度。In this embodiment, the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, and the sixth nozzle 151f are located in a direction perpendicular to the viewing angle directions of several image sensors. The side of the first image sensor 31, the second image sensor 32, the third image sensor 33, the fourth image sensor 34, the fifth image sensor 35, and the sixth image sensor 36 away from the sensor 39. On the one hand, the sensor 39 can be prevented from being blocked by the first airflow nozzle 151, thereby ensuring the accuracy of the detection information of the sensor 39. On the other hand, in a direction perpendicular to the viewing angle directions of several image sensors, the distance between the sensor 39 and the image sensor can be made smaller, thereby reducing the height of the unmanned driving sensor integrated device 100 in this direction.
第七喷嘴151g和第七图像传感器37沿无人驾驶传感器集成装置100的相应侧的边缘分布。第八喷嘴151h和第八图像传感器38沿无人驾驶传感器集成装置100的相应侧的边缘分布。The seventh nozzle 151g and the seventh image sensor 37 are distributed along the edge of the corresponding side of the unmanned driving sensor integrated device 100. The eighth nozzle 151h and the eighth image sensor 38 are distributed along the edge of the corresponding side of the unmanned driving sensor integrated device 100.
无人驾驶传感器集成装置100的设有第七图像传感器37和第八图像传感器38的边缘的厚度较小。若沿与若干个图像传感器的视角方向均垂直的方向，第七喷嘴151g和第八喷嘴151h分别位于第七图像传感器37和第八图像传感器38的靠近或远离传感器39的一侧，则会增加无人驾驶传感器集成装置100相应边缘的厚度。而本实施例中，第七喷嘴151g和第七图像传感器37沿无人驾驶传感器集成装置100的相应侧的边缘分布，第八喷嘴151h和第八图像传感器38沿无人驾驶传感器集成装置100的相应侧的边缘分布，则不会因为第七喷嘴151g和第八喷嘴151h的设置而增加无人驾驶传感器集成装置100相应边缘的厚度，即不会因为第七喷嘴151g和第八喷嘴151h的设置的设置而影响无人驾驶传感器集成装置100的小型化的需求。The thickness of the edges of the unmanned driving sensor integrated device 100 where the seventh image sensor 37 and the eighth image sensor 38 are provided is relatively small. If the seventh nozzle 151g and the eighth nozzle 151h are located on the side close to or far from the sensor 39 of the seventh image sensor 37 and the eighth image sensor 38 respectively along the direction perpendicular to the viewing angle directions of several image sensors, it will increase The thickness of the corresponding edge of the driverless sensor integrated device 100. In this embodiment, the seventh nozzle 151g and the seventh image sensor 37 are distributed along the edges of the corresponding side of the unmanned sensor integrated device 100, and the eighth nozzle 151h and the eighth image sensor 38 are distributed along the edge of the unmanned sensor integrated device 100. The edge distribution on the corresponding side will not increase the thickness of the corresponding edge of the driverless sensor integrated device 100 due to the arrangement of the seventh nozzle 151g and the eighth nozzle 151h, that is, the arrangement of the seventh nozzle 151g and the eighth nozzle 151h will not increase. The setting of this affects the demand for miniaturization of the driverless sensor integrated device 100.
再者，若类似，第一喷嘴151a，第七喷嘴151g和第八喷嘴151h分别位于第七图像传感器37和第八图像传感器38的***，则会使得第七图像传感器37和第八图像传感器38与无人驾驶传感器集成装置100的对应侧边的边缘之间的距离较大，从而使得第七图像传感器37和第八图像传感器38的视角较小。而本申请中，第七喷嘴151g与第七图像传感器37沿无人驾驶传感器集成装置100的相应侧的边缘分布，第八喷嘴151h与第八图像传感器38也沿无人驾驶传感器集成装置100的相应侧的边缘分布，从而使得第七图像传感器37和第八图像传感器38分别与无人驾驶传感器集成装置100的对应侧边的边缘之间的距离较小，以增大第七图像传感器37和第八图像传感器38的视角。Furthermore, if similarly, the first nozzle 151a, the seventh nozzle 151g, and the eighth nozzle 151h are located at the periphery of the seventh image sensor 37 and the eighth image sensor 38, respectively, so that the seventh image sensor 37 and the eighth image sensor 38 The distance from the edge of the corresponding side of the driverless sensor integrated device 100 is relatively large, so that the viewing angles of the seventh image sensor 37 and the eighth image sensor 38 are relatively small. In this application, the seventh nozzle 151g and the seventh image sensor 37 are distributed along the edge of the corresponding side of the unmanned driving sensor integrated device 100, and the eighth nozzle 151h and the eighth image sensor 38 are also distributed along the edge of the unmanned driving sensor integrated device 100. The edges of the corresponding sides are distributed so that the distances between the seventh image sensor 37 and the eighth image sensor 38 and the edges of the corresponding sides of the unmanned driving sensor integrated device 100 are small, so as to increase the seventh image sensor 37 and the eighth image sensor 38. The viewing angle of the eighth image sensor 38.
在另外可行的实施例中，在与若干个图像传感器的视角方向均垂直的方向，第一气流喷嘴151位于图像传感器的远离传感器39的一侧。一方面，可以避免第一气流喷嘴151遮挡传感器39，从而保证传感器39的检测信息的准确性。另一方面，在与若干个图像传感器的视角方向均垂直的方向，可以使得传感器39与图像传感器之间的距离较小，进而减小无人驾驶传感 器集成装置100在该方向的高度。In another feasible embodiment, the first airflow nozzle 151 is located on the side of the image sensor away from the sensor 39 in a direction perpendicular to the viewing angle directions of the several image sensors. On the one hand, the sensor 39 can be prevented from being blocked by the first airflow nozzle 151, thereby ensuring the accuracy of the detection information of the sensor 39. On the other hand, in a direction perpendicular to the viewing directions of several image sensors, the distance between the sensor 39 and the image sensor can be made smaller, thereby reducing the height of the unmanned driving sensor integrated device 100 in this direction.
本实施例中，无人驾驶传感器集成装置100还包括壳体170。第一喷嘴151a、第二喷嘴151b、第三喷嘴151c、第四喷嘴151d、第五喷嘴151e、第六喷嘴151f、第七喷嘴151g和第八喷嘴151h均部分埋设在壳体170内。一方面，避免第一喷嘴151a、第二喷嘴151b、第三喷嘴151c、第四喷嘴151d、第五喷嘴151e、第六喷嘴151f、第七喷嘴151g和第八喷嘴151h裸露而导致无人驾驶传感器集成装置100的外表面结构复杂，即使得无人驾驶传感器集成装置100的外表面结构简单，进而达到美观效果。另一方面，壳体170还能对第一喷嘴151a、第二喷嘴151b、第三喷嘴151c、第四喷嘴151d、第五喷嘴151e、第六喷嘴151f、第七喷嘴151g和第八喷嘴151h起到保护作用，即防止第一喷嘴151a、第二喷嘴151b、第三喷嘴151c、第四喷嘴151d、第五喷嘴151e、第六喷嘴151f、第七喷嘴151g和第八喷嘴151h受环境影响而损伤，提高第一喷嘴151a、第二喷嘴151b、第三喷嘴151c、第四喷嘴151d、第五喷嘴151e、第六喷嘴151f、第七喷嘴151g和第八喷嘴151h的使用寿命。In this embodiment, the unmanned driving sensor integrated device 100 further includes a housing 170. The first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g, and the eighth nozzle 151h are all partially buried in the housing 170. On the one hand, prevent the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g, and the eighth nozzle 151h from being exposed to cause the unmanned sensor to be exposed. The outer surface structure of the integrated device 100 is complex, that is, the outer surface structure of the unmanned driving sensor integrated device 100 is simple, thereby achieving an aesthetic effect. On the other hand, the housing 170 can also support the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g, and the eighth nozzle 151h. To protect, that is, to prevent the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g, and the eighth nozzle 151h from being damaged by the environment. , Improve the service life of the first nozzle 151a, the second nozzle 151b, the third nozzle 151c, the fourth nozzle 151d, the fifth nozzle 151e, the sixth nozzle 151f, the seventh nozzle 151g and the eighth nozzle 151h.
本实施例中，参图1至图3、图6，无人驾驶传感器集成装置100还包括壳体170，清洁结构150与壳体170可拆卸连接。当第一气流喷嘴151堵塞，可将清洁结构150拆卸，以便于对第一气流喷嘴151进行清理，或更换新的清洁结构150。In this embodiment, referring to FIGS. 1 to 3 and 6, the unmanned driving sensor integrated device 100 further includes a housing 170, and the cleaning structure 150 is detachably connected to the housing 170. When the first airflow nozzle 151 is blocked, the cleaning structure 150 can be disassembled to facilitate cleaning of the first airflow nozzle 151 or to replace the cleaning structure 150 with a new one.
可以理解的是，在另外可行的实施例中，第一气流喷嘴与壳体可拆卸连接。从而，在第一气流喷嘴堵塞时，可仅将第一气流喷嘴拆卸。以便于对第一气流喷嘴进行清理，或更换新的第一气流喷嘴。It can be understood that, in another feasible embodiment, the first airflow nozzle is detachably connected to the housing. Therefore, when the first airflow nozzle is blocked, only the first airflow nozzle can be disassembled. In order to clean the first air nozzle or replace with a new first air nozzle.
参图6至图10，本实施例中，清洁结构150还包括固定设于壳体170上的安装基座153。第一气流喷嘴151固定设于对应的安装基座153上。即通过安装基座153与壳体170固定连接，实现第一气流喷嘴151的固定。避免第一气流喷嘴151结构较小无法稳定固定的现象。也避免第一气流喷 嘴151与壳体170无法匹配安装的现象。Referring to FIGS. 6 to 10, in this embodiment, the cleaning structure 150 further includes a mounting base 153 fixedly arranged on the housing 170. The first air nozzle 151 is fixed on the corresponding mounting base 153. That is, the fixing of the first airflow nozzle 151 is realized by the fixed connection between the mounting base 153 and the housing 170. Avoid the phenomenon that the first airflow nozzle 151 has a small structure and cannot be stably fixed. It also avoids the phenomenon that the first air flow nozzle 151 and the housing 170 cannot be matched and installed.
参图6至图9，本实施例中，安装基座153具有与壳体170匹配的第一安装面1531和第二安装面1533。相应地，壳体170上设有两个分别与第一安装面1531和第二安装面1533匹配的安装面171。安装基座153通过第一安装面1531和第二安装面1533与壳体170固定，可以很好的保持安装基座153的安装稳定性，还能对安装基座153的位置进行很好的限位作用，从而能够快速的将第一安装面1531和第二安装面1533安装至壳体170上。Referring to FIGS. 6 to 9, in this embodiment, the mounting base 153 has a first mounting surface 1531 and a second mounting surface 1533 that match the housing 170. Correspondingly, the housing 170 is provided with two mounting surfaces 171 matching the first mounting surface 1531 and the second mounting surface 1533 respectively. The mounting base 153 is fixed to the housing 170 through the first mounting surface 1531 and the second mounting surface 1533, which can maintain the installation stability of the mounting base 153, and also limit the position of the mounting base 153 well. Position function, so that the first mounting surface 1531 and the second mounting surface 1533 can be quickly mounted on the housing 170.
另外，通过第一安装面1531和第二安装面1533同时与壳体170固定，可以使得第一安装面1531和第二安装面1533各自与壳体170之间的相互作用力较小，避免出现安装基座153单侧受力集中的现象。In addition, by fixing the first mounting surface 1531 and the second mounting surface 1533 to the housing 170 at the same time, the interaction force between the first mounting surface 1531 and the second mounting surface 1533 and the housing 170 can be made smaller, so as to avoid The force on the mounting base 153 is concentrated on one side.
本实施例中，第一安装面1531和第二安装面1533不垂直、不平行。在另外可行的实施例中，第一安装面1531和第二安装面1533也可以垂直或平行。In this embodiment, the first mounting surface 1531 and the second mounting surface 1533 are not perpendicular or parallel. In another feasible embodiment, the first mounting surface 1531 and the second mounting surface 1533 may also be vertical or parallel.
参图10，所述安装基座153还具有相互平行的第三安装面1535和第四安装面1537。从而，当另外无人驾驶传感器集成装置的壳体中，具有两个分别与第三安装面和第四安装面匹配的安装面时，清洁结构也适用于该无人驾驶传感器集成装置；当另外无人驾驶传感器集成装置的壳体中，其用以安装清洁结构的安装面能恰好与第一安装面1531、第二安装面1533、第三安装面1535和第四安装面1537的其一、其二、其三或其四匹配时，清洁结构150也适用于该无人驾驶传感器集成装置。即第三安装面1535和第四安装面1537的设置，进一步增加了清洁结构150的适用范围。Referring to FIG. 10, the mounting base 153 also has a third mounting surface 1535 and a fourth mounting surface 1537 that are parallel to each other. Therefore, when there are two mounting surfaces matching the third mounting surface and the fourth mounting surface in the housing of another driverless sensor integrated device, the cleaning structure is also applicable to the driverless sensor integrated device; In the housing of the unmanned sensor integrated device, the mounting surface for installing the cleaning structure can be exactly the same as one of the first mounting surface 1531, the second mounting surface 1533, the third mounting surface 1535, and the fourth mounting surface 1537. When the second, third, or fourth match, the cleaning structure 150 is also suitable for the unmanned sensor integrated device. That is, the arrangement of the third mounting surface 1535 and the fourth mounting surface 1537 further increases the scope of application of the cleaning structure 150.
当然，在另外可行的实施例中，安装基座所具有的安装面的个数不限于四个，还可以是三个、或多于四个。Of course, in another feasible embodiment, the number of mounting surfaces provided by the mounting base is not limited to four, and can also be three or more than four.
参图6和图7，本实施例中，第一气流喷嘴151具有进气口1511。安装基座153上设有与第一气流喷嘴151的进气口1511连通的气源接口155。 即通过气源接口155与输气设备连接，进而将气体输送至第一气流喷嘴151喷出并射至图像传感器的镜头131上。Referring to FIGS. 6 and 7, in this embodiment, the first airflow nozzle 151 has an air inlet 1511. The mounting base 153 is provided with an air source interface 155 communicating with the air inlet 1511 of the first airflow nozzle 151. That is, it is connected to the gas delivery device through the gas source interface 155, and then the gas is delivered to the first gas flow nozzle 151 and sprayed onto the lens 131 of the image sensor.
可选地，在另外可行的实施例中，清洁机构包括至少两个型号不同的气源接口，且至少两个气源接口均可与安装基座可拆卸连接。从而可根据不同输气设备选用不同的气源接口，即提高了清洁机构的适用范围。Optionally, in another feasible embodiment, the cleaning mechanism includes at least two air source ports of different models, and the at least two air source ports can be detachably connected to the mounting base. Therefore, different gas source interfaces can be selected according to different gas transmission equipment, that is, the scope of application of the cleaning mechanism is improved.
可选地，在另外可行的实施例中，气源接口设有滤网。以对输入第一气流喷嘴的气体进行过滤，进而防止第一气流喷嘴的气流通道堵塞，进而保证气流的顺利喷出。且滤网可以过滤掉气流中的杂质，从而避免从第一气流喷嘴喷出的气流射在图像传感器的镜头上时，损伤图像传感器的镜头。再者，滤网可以过滤掉气流中的杂质，从而增加第一气流喷嘴喷出的气流的纯净度，进而能更好的实现对图像传感器的镜头的清洁。Optionally, in another feasible embodiment, the air source interface is provided with a filter screen. The gas input into the first airflow nozzle is filtered, thereby preventing the airflow channel of the first airflow nozzle from being blocked, thereby ensuring the smooth ejection of the airflow. In addition, the filter screen can filter out impurities in the airflow, so as to avoid damage to the lens of the image sensor when the airflow jetted from the first airflow nozzle hits the lens of the image sensor. Furthermore, the filter screen can filter out the impurities in the airflow, thereby increasing the purity of the airflow sprayed by the first airflow nozzle, and thus can better realize the cleaning of the lens of the image sensor.
当然，可以理解的是，在另外可行的实施例中，也可以将滤网设于第一气流喷嘴的进气口等位置。Of course, it can be understood that, in other feasible embodiments, the filter screen may also be arranged at the air inlet of the first airflow nozzle or the like.
可选地，第一气流喷嘴喷出的气流与对应的图像传感器的镜头131的夹角为30度至45度，即图5和图7中角p的大小为30度至45度。既能避免第一气流喷嘴遮挡对应的图像传感器；还能保证第一气流喷嘴喷出的气流实现对镜头131的清洁效果。当然，可以理解的是，各个第一气流喷嘴喷出的气流与对应的图像传感器之间的夹角可以相同，也可以不同，根据具体需求进行设置即可。Optionally, the angle between the airflow sprayed by the first airflow nozzle and the lens 131 of the corresponding image sensor is 30 degrees to 45 degrees, that is, the angle p in FIGS. 5 and 7 is 30 degrees to 45 degrees. It can prevent the first airflow nozzle from blocking the corresponding image sensor; it can also ensure that the airflow sprayed by the first airflow nozzle achieves a cleaning effect on the lens 131. Of course, it can be understood that the included angle between the airflow sprayed by each first airflow nozzle and the corresponding image sensor may be the same or different, and it may be set according to specific requirements.
可选地，在另外可行的实施例中，第一气流喷嘴的气流喷出方向可调。具体地，第一气流喷嘴的喷出口的侧壁可调，以实现第一气流喷嘴的气流喷出方向可调。或者，也可以通过第一气流喷嘴可转动的设于安装基座上，从而使得第一气流喷嘴的气流喷出方向可调。在另外可行的实施例中，若图像传感器的安装位置调整时，可通过调整第一气流喷嘴的气流喷出方向，使得第一气流喷嘴喷出的气流可扫过对应的图像传感器的镜头。Optionally, in another feasible embodiment, the airflow spraying direction of the first airflow nozzle is adjustable. Specifically, the side wall of the ejection outlet of the first airflow nozzle is adjustable, so that the airflow ejection direction of the first airflow nozzle is adjustable. Alternatively, the first airflow nozzle can be rotatably arranged on the mounting base, so that the airflow spraying direction of the first airflow nozzle can be adjusted. In another feasible embodiment, if the installation position of the image sensor is adjusted, the direction of the airflow from the first airflow nozzle can be adjusted so that the airflow from the first airflow nozzle can sweep the lens of the corresponding image sensor.
可选地，在另外可行的实施例中，所述清洁组件还包括气体压缩机； 气体压缩机具有出气口，第一气流喷嘴具有进气口，出气口与第一气流喷嘴的进气口连通。从而，可将气体压缩机压缩的气体输送至第一气流喷嘴处。可以理解的是，气体压缩机的出气口可以与第一气流喷嘴的进气口直接连通，或通过其它具有具有气流通道的元件与第一气流喷嘴的进气口连通。Optionally, in another feasible embodiment, the cleaning assembly further includes a gas compressor; the gas compressor has an air outlet, the first airflow nozzle has an air inlet, and the air outlet is in communication with the air inlet of the first airflow nozzle . Thus, the gas compressed by the gas compressor can be delivered to the first gas flow nozzle. It can be understood that the air outlet of the gas compressor may be directly connected to the air inlet of the first air flow nozzle, or communicated with the air inlet of the first air flow nozzle through other elements having air flow channels.
可选地，气体压缩机为空气压缩机。即通过压缩空气即可实现对图像传感器的镜头的清洁，无需使用其它清洗液等，取用方便，成本低，且不污染环境。Optionally, the gas compressor is an air compressor. That is, the lens of the image sensor can be cleaned by compressed air without using other cleaning fluids, etc., convenient to access, low cost, and does not pollute the environment.
可选地，在一个可行的实施例中，安装基座的第一安装面和第二安装面之间的夹角可调，从而增加清洁结构的适用范围。具体地，安装基座包括具有第一安装面的第一分体和具有第二安装面的第二分体。第一分体和第二分体可转动连接，以实现第一安装面和第二安装面的夹角可调。当然，可以理解的是，第一分体和第二分体转动，需不影响气流的输送。Optionally, in a feasible embodiment, the included angle between the first mounting surface and the second mounting surface of the mounting base is adjustable, thereby increasing the scope of application of the cleaning structure. Specifically, the mounting base includes a first split body with a first mounting surface and a second split body with a second mounting surface. The first split body and the second split body are rotatably connected to realize the adjustable angle between the first mounting surface and the second mounting surface. Of course, it can be understood that the rotation of the first split body and the second split body need not affect the air flow conveyance.
如图11所示，本申请另一实施例提供的无人驾驶传感器集成装置的清洁结构150，与无人驾驶传感器集成装置100的清洁结构150不同的是：清洁结构150还包括与安装基座153的第一安装面1531可拆卸连接的调节件157。调节件157具有裸露的第五安装面1571。从而可以通过安装或拆卸调节件157的方式，提高清洁结构150的适用范围。As shown in FIG. 11, the cleaning structure 150 of the unmanned sensor integrated device provided by another embodiment of the present application is different from the cleaning structure 150 of the unmanned sensor integrated device 100 in that the cleaning structure 150 also includes a mounting base. The adjusting member 157 is detachably connected to the first mounting surface 1531 of the 153. The adjusting member 157 has a fifth mounting surface 1571 that is exposed. Therefore, the scope of application of the cleaning structure 150 can be improved by installing or disassembling the adjusting member 157.
具体地，本实施例中，调节板具有与主体的第一安装面1531连接的连接面1573，连接面1573与第五安装面1571平行。Specifically, in this embodiment, the adjusting plate has a connecting surface 1573 connected to the first mounting surface 1531 of the main body, and the connecting surface 1573 is parallel to the fifth mounting surface 1571.
可选地，在另外可行的实施例中，第五安装面1571与连接面1573也可以不平行。相应的，将调节板安装至安装基座153上后，第五安装面1571与第二安装面1533的夹角和第一安装面1531与第二安装面1533的夹角不同，参图12所示。Optionally, in another feasible embodiment, the fifth mounting surface 1571 and the connecting surface 1573 may not be parallel. Correspondingly, after the adjustment plate is installed on the mounting base 153, the included angle between the fifth mounting surface 1571 and the second mounting surface 1533 is different from the included angle between the first mounting surface 1531 and the second mounting surface 1533, as shown in Figure 12 Show.
当然，在另外可行的实施例中，清洁结构150还可以包括至少两个调节件157。两个调节件157上，第五安装面1571与连接面1573之间的夹 角或距离不同，从而可以通过在安装基座153上安装不同的调节件157，增加清洁结构150的适用范围。Of course, in another feasible embodiment, the cleaning structure 150 may also include at least two adjusting members 157. On the two adjusting members 157, the angle or distance between the fifth mounting surface 1571 and the connecting surface 1573 is different, so that by installing different adjusting members 157 on the mounting base 153, the scope of application of the cleaning structure 150 is increased.
本申请一实施例还提供一种无人驾驶***，其包括本申请提供的无人驾驶传感器集成装置。无人驾驶传感器集成装置的具体实施例参考前述实施例，此处不再赘述。An embodiment of the present application also provides an unmanned driving system, which includes the unmanned driving sensor integrated device provided in the present application. For specific embodiments of the unmanned driving sensor integration device, refer to the foregoing embodiments, and details are not described herein again.
上述无人驾驶***中的无人驾驶传感器集成装置，通过第一气流喷嘴喷出的气流对图像传感器的镜头进行清洁。无需设置联动元件，从而使得清洁组件的结构简单，进而使得无人驾驶传感器集成装置的结构简单，减小无人驾驶传感器集成装置的体积，实现无人驾驶传感器集成装置的小型化。The unmanned sensor integrated device in the above-mentioned unmanned driving system cleans the lens of the image sensor through the air flow sprayed from the first air flow nozzle. There is no need to provide a linkage element, so that the structure of the cleaning assembly is simple, and the structure of the unmanned sensor integrated device is simple, the volume of the unmanned sensor integrated device is reduced, and the miniaturization of the unmanned sensor integrated device is realized.
可选地，无人驾驶***还包括行走主体，无人驾驶传感器集成装置位于所述行走主体的顶部。Optionally, the unmanned driving system further includes a walking body, and the unmanned driving sensor integrated device is located on the top of the walking body.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims (20)

  1. 一种无人驾驶传感器集成装置，所述无人驾驶传感器集成装置包括：An unmanned driving sensor integration device. The unmanned driving sensor integration device includes:
    信号处理单元；Signal processing unit;
    传感器组件，包括若干个图像传感器，所述图像传感器具有镜头；以及The sensor assembly includes several image sensors, the image sensors having a lens; and
    清洁组件，包括若干个分别与若干个所述图像传感器一一对应的清洁结构，所述清洁结构包括第一气流喷嘴；所述第一气流喷嘴喷出的气流可扫过对应的所述图像传感器的镜头。The cleaning assembly includes a plurality of cleaning structures respectively corresponding to a plurality of the image sensors one-to-one, and the cleaning structure includes a first airflow nozzle; the airflow ejected from the first airflow nozzle can sweep the corresponding image sensor Of the lens.
  2. 根据权利要求1所述的无人驾驶传感器集成装置，所述图像传感器均位于所述信号处理单元的***；The unmanned driving sensor integrated device according to claim 1, wherein the image sensors are all located on the periphery of the signal processing unit;
    若干个所述图像传感器包括第一图像传感器、第二图像传感器、第三图像传感器、第四图像传感器、第五图像传感器、第六图像传感器、第七图像传感器以及第八图像传感器；The plurality of image sensors includes a first image sensor, a second image sensor, a third image sensor, a fourth image sensor, a fifth image sensor, a sixth image sensor, a seventh image sensor, and an eighth image sensor;
    所述第一图像传感器位于所述信号处理单元的一侧边缘；设定所述第一图像传感器的视角方向为第一方向；The first image sensor is located at one side edge of the signal processing unit; the viewing angle direction of the first image sensor is set to the first direction;
    所述第二图像传感器、所述第三图像传感器和所述第四图像传感器位于所述信号处理单元的与所述第一图像传感器相反的一侧边缘；所述第二图像传感器、所述第三图像传感器和所述第四图像传感器的视角方向为与所述第一方向反向的第二方向；The second image sensor, the third image sensor, and the fourth image sensor are located on an edge of the signal processing unit opposite to the first image sensor; the second image sensor, the first image sensor 3. The viewing angle direction of the image sensor and the fourth image sensor is a second direction opposite to the first direction;
    所述第五图像传感器和所述第六图像传感器分别位于所述第二图像传感器、所述第三图像传感器和所述第四图像传感器的两侧；所述第五传感器和所述第六图像传感器的视角方向分别为第三方向和第四方向；所述第三方向和所述第四方向均指向偏离所述第二图像传感器的方向；所述第三方向与所述第二方向的夹角为锐角，所述第四方向与所述第二方向的夹角为锐角；The fifth image sensor and the sixth image sensor are respectively located on both sides of the second image sensor, the third image sensor, and the fourth image sensor; the fifth sensor and the sixth image The viewing angle directions of the sensor are the third direction and the fourth direction respectively; the third direction and the fourth direction both point to the direction deviating from the second image sensor; the third direction and the second direction are sandwiched The angle is an acute angle, and the included angle between the fourth direction and the second direction is an acute angle;
    所述第七图像传感器与所述第五传感器相背设置，所述第七图像传感 器的视角方向为与所述第三方向反向的第五方向；The seventh image sensor is arranged opposite to the fifth sensor, and the viewing angle direction of the seventh image sensor is a fifth direction opposite to the third direction;
    所述第八图像传感器与所述第六传感器相背设置，所述第八图像传感器的视角方向为与所述第四方向反向的第六方向。The eighth image sensor is arranged opposite to the sixth sensor, and the viewing angle direction of the eighth image sensor is a sixth direction opposite to the fourth direction.
  3. 根据权利要求1或2所述的无人驾驶传感器集成装置，所述传感器组件还包括设于所述信号处理单元上的传感器；所述传感器周围设有若干个气流喷嘴安装工位。The unmanned driving sensor integrated device according to claim 1 or 2, wherein the sensor assembly further comprises a sensor arranged on the signal processing unit; and a plurality of air nozzle installation stations are arranged around the sensor.
  4. 根据权利要求3所述的无人驾驶传感器集成装置，所述清洁组件还包括设于所述气流喷嘴安装工位的第二气流喷嘴；所述第二气流喷嘴喷出的气流可射至所述传感器的外壁。The unmanned sensor integrated device according to claim 3, the cleaning component further comprises a second airflow nozzle arranged at the airflow nozzle installation station; the airflow sprayed by the second airflow nozzle can be shot to the The outer wall of the sensor.
  5. 根据权利要求3所述的无人驾驶传感器集成装置，在与若干个所述图像传感器的视角方向均垂直的方向，所述第一气流喷嘴位于所述图像传感器的远离所述传感器的一侧。3. The unmanned sensor integrated device according to claim 3, in a direction perpendicular to the viewing angle directions of the plurality of image sensors, the first airflow nozzle is located on a side of the image sensor away from the sensor.
  6. 根据权利要求3所述的无人驾驶传感器集成装置，分别与所述第一图像传感器、所述第二图像传感器、所述第三图像传感器、所述第四图像传感器、所述第五图像传感器、所述第六图像传感器、所述第七图像传感器和所述第八图像传感器对应的第一气流喷嘴分别为第一喷嘴、第二喷嘴、第三喷嘴、第四喷嘴、第五喷嘴、第六喷嘴、第七喷嘴和第八喷嘴；The unmanned driving sensor integrated device according to claim 3, which is respectively connected with the first image sensor, the second image sensor, the third image sensor, the fourth image sensor, and the fifth image sensor. , The first airflow nozzles corresponding to the sixth image sensor, the seventh image sensor, and the eighth image sensor are the first nozzle, the second nozzle, the third nozzle, the fourth nozzle, the fifth nozzle, and the first nozzle, respectively. Six nozzles, seventh nozzle and eighth nozzle;
    在与若干个所述图像传感器的视角方向均垂直的方向，所述第一喷嘴、所述第二喷嘴、所述第三喷嘴、所述第四喷嘴、所述第五喷嘴和所述第六喷嘴分别位于所述第一图像传感器、所述第二图像传感器、所述第三图像传感器、所述第四图像传感器、所述第五图像传感器和所述第六图像传感器远离所述传感器的一侧；In a direction perpendicular to the viewing angles of several image sensors, the first nozzle, the second nozzle, the third nozzle, the fourth nozzle, the fifth nozzle, and the sixth nozzle The nozzles are respectively located at one of the first image sensor, the second image sensor, the third image sensor, the fourth image sensor, the fifth image sensor, and the sixth image sensor away from the sensor. side;
    所述第七喷嘴和所述第七图像传感器沿所述无人驾驶传感器集成装置的相应侧的边缘分布；所述第八喷嘴和所述第八图像传感器沿所述无人驾驶传感器集成装置的相应侧的边缘分布。The seventh nozzle and the seventh image sensor are distributed along the edge of the corresponding side of the driverless sensor integrated device; the eighth nozzle and the eighth image sensor are distributed along the edge of the driverless sensor integrated device Edge distribution on the corresponding side.
  7. 根据权利要求1或2所述的无人驾驶传感器集成装置，所述无人驾 驶传感器集成装置还包括壳体；若干个所述图像传感器包括第一图像传感器、第二图像传感器、第三图像传感器、第四图像传感器、第五图像传感器、第六图像传感器、第七图像传感器以及第八图像传感器；分别与所述第一图像传感器、所述第二图像传感器、所述第三图像传感器、所述第四图像传感器、所述第五图像传感器、所述第六图像传感器、所述第七图像传感器和所述第八图像传感器对应的第一气流喷嘴分别为第一喷嘴、第二喷嘴、第三喷嘴、第四喷嘴、第五喷嘴、第六喷嘴、第七喷嘴和第八喷嘴；所述第一喷嘴、所述第二喷嘴、所述第三喷嘴、所述第四喷嘴、所述第五喷嘴、所述第六喷嘴、所述第七喷嘴和/或所述第八喷嘴至少部分埋设在所述壳体内。The unmanned driving sensor integrated device according to claim 1 or 2, the unmanned driving sensor integrated device further comprising a housing; a plurality of the image sensors include a first image sensor, a second image sensor, and a third image sensor , The fourth image sensor, the fifth image sensor, the sixth image sensor, the seventh image sensor, and the eighth image sensor; respectively with the first image sensor, the second image sensor, the third image sensor, and the The first airflow nozzles corresponding to the fourth image sensor, the fifth image sensor, the sixth image sensor, the seventh image sensor, and the eighth image sensor are a first nozzle, a second nozzle, and a first nozzle, respectively. Three nozzles, fourth nozzles, fifth nozzles, sixth nozzles, seventh nozzles, and eighth nozzles; the first nozzle, the second nozzle, the third nozzle, the fourth nozzle, and the first nozzle The five nozzles, the sixth nozzle, the seventh nozzle and/or the eighth nozzle are at least partially buried in the housing.
  8. 根据权利要求1或2任一项所述的无人驾驶传感器集成装置，所述无人驾驶传感器集成装置还包括壳体，所述清洁结构与所述壳体可拆卸连接，或所述第一气流喷嘴与所述壳体可拆卸连接。The unmanned driving sensor integrated device according to any one of claims 1 or 2, the unmanned driving sensor integrated device further comprising a housing, the cleaning structure is detachably connected to the housing, or the first The air flow nozzle is detachably connected with the housing.
  9. 根据权利要求1或2任一项所述的无人驾驶传感器集成装置，所述无人驾驶传感器集成装置还包括壳体，所述清洁结构还包括固定设于所述壳体上的安装基座；所述第一气流喷嘴固定设于对应的所述安装基座上。The unmanned driving sensor integrated device according to any one of claims 1 or 2, further comprising a housing, and the cleaning structure further comprises a mounting base fixedly arranged on the housing ; The first airflow nozzle is fixed on the corresponding mounting base.
  10. 根据权利要求9所述的无人驾驶传感器集成装置，所述安装基座具有与所述壳体匹配的第一安装面和第二安装面；The unmanned driving sensor integrated device according to claim 9, wherein the mounting base has a first mounting surface and a second mounting surface that match the housing;
    且/或，所述安装基座还具有相互平行的第三安装面和第四安装面。And/or, the mounting base further has a third mounting surface and a fourth mounting surface that are parallel to each other.
  11. 根据权利要求10所述的无人驾驶传感器集成装置，所述第一安装面和所述第二安装面之间的夹角可调。The unmanned driving sensor integrated device according to claim 10, wherein the included angle between the first mounting surface and the second mounting surface is adjustable.
  12. 根据权利要求10所述的无人驾驶传感器集成装置，所述清洁结构还包括与所述安装基座的第一安装面可拆卸连接的调节件；所述调节板具有裸露的第五安装面。The unmanned sensor integrated device according to claim 10, the cleaning structure further comprises an adjusting member detachably connected to the first mounting surface of the mounting base; the adjusting plate has a fifth mounting surface that is exposed.
  13. 根据权利要求9所述的无人驾驶传感器集成装置，所述调节板具有与所述主体的第一安装面连接的连接面，所述连接面与所述第五安装面 平行。The unmanned driving sensor integrated device according to claim 9, wherein the adjusting plate has a connecting surface connected to the first mounting surface of the main body, and the connecting surface is parallel to the fifth mounting surface.
  14. 根据权利要求8所述的无人驾驶传感器集成装置，所述第一气流喷嘴具有进气口；所述安装基座上设有与所述第一气流喷嘴的进气口连通的气源接口，所述气源接口设有滤网；The unmanned sensor integrated device according to claim 8, wherein the first airflow nozzle has an air inlet; the mounting base is provided with an air source interface communicating with the air inlet of the first airflow nozzle, The air source interface is provided with a filter;
    或，所述第一气流喷嘴具有进气口，所述第一气流喷嘴的进气口设有滤网。Or, the first airflow nozzle has an air inlet, and the air inlet of the first airflow nozzle is provided with a filter screen.
  15. 根据权利要求1或2所述的无人驾驶传感器集成装置，所述第一气流喷嘴喷出的气流与对应的所述图像传感器的镜头的夹角为30度至45度。The unmanned sensor integrated device according to claim 1 or 2, wherein the angle between the air flow sprayed by the first air flow nozzle and the lens of the corresponding image sensor is 30 degrees to 45 degrees.
  16. 根据权利要求1或2所述的无人驾驶传感器集成装置，所述第一气流喷嘴的气流喷出方向可调。The unmanned sensor integrated device according to claim 1 or 2, wherein the airflow spraying direction of the first airflow nozzle is adjustable.
  17. 根据权利要求1或2所述的无人驾驶传感器集成装置，所述清洁组件还包括气体压缩机；所述气体压缩机具有出气口，所述第一气流喷嘴具有进气口，所述出气口与所述第一气流喷嘴的进气口连通。The driverless sensor integrated device according to claim 1 or 2, wherein the cleaning component further comprises a gas compressor; the gas compressor has an air outlet, the first airflow nozzle has an air inlet, and the air outlet It communicates with the air inlet of the first airflow nozzle.
  18. 根据权利要求17所述的无人驾驶传感器集成装置，所述气体压缩机为空气压缩机。The unmanned sensor integrated device according to claim 17, wherein the gas compressor is an air compressor.
  19. 一种无人驾驶***，所述无人驾驶***包括无人驾驶传感器集成装置；所述无人驾驶传感器集成装置包括：An unmanned driving system, the unmanned driving system includes an unmanned driving sensor integration device; the unmanned driving sensor integration device includes:
    信号处理单元；Signal processing unit;
    传感器组件，包括若干个图像传感器，所述图像传感器具有镜头；以及The sensor assembly includes several image sensors, the image sensors having a lens; and
    清洁组件，包括若干个分别与若干个所述图像传感器一一对应的清洁结构，所述清洁结构包括第一气流喷嘴；所述第一气流喷嘴喷出的气流可扫过对应的所述图像传感器的镜头。The cleaning assembly includes a plurality of cleaning structures respectively corresponding to a plurality of the image sensors one-to-one, and the cleaning structure includes a first airflow nozzle; the airflow ejected from the first airflow nozzle can sweep the corresponding image sensor Of the lens.
  20. 根据权利要求19所述的无人驾驶***，所述无人驾驶***还包括行走主体，所述无人驾驶传感器集成装置位于所述行走主体的顶部。The unmanned driving system according to claim 19, further comprising a walking body, and the unmanned driving sensor integrated device is located on the top of the walking body.
PCT/CN2020/074680 2020-02-11 2020-02-11 Unmanned sensor integrated device and unmanned system WO2021159264A1 (en)

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