Collision recovery device for driverless vehicle and driverless vehicle

Abstract

The present disclosure relates to a collision recovery device for an autonomous vehicle and an autonomous vehicle. The collision recovery device for the autonomous vehicle includes: a base; a sensor bracket for fixing a detection sensor, slidably connected to the base, having a storage position inside the vehicle body and a working position extending outside the vehicle body; a first elastic member connected between the base and the sensor bracket, and a locking mechanism disposed between the sensor bracket and the base, having a locked state and an unlocked state; in the locked state, the locking mechanism is used to fix the sensor bracket in the working position; when the sensor bracket is subjected to a collision force, the locking mechanism switches from the locked state to the unlocked state, so that the sensor bracket slides along the base from the working position to the storage position under the elastic force of the first elastic member. When a collision occurs, the locking mechanism switches to the unlocked state, and under the action of the first elastic member, the sensor bracket slides to the storage position inside the vehicle body, thereby preventing the collider and the detection sensor from being damaged.

Description

Technical Field

[0001] The present disclosure relates to the technical field of driverless vehicles, and in particular, to a collision recovery device and a driverless vehicle for a driverless vehicle. Background Art

[0002] In related technologies, for the safe driving of autonomous vehicles, multiple sensors are usually provided on autonomous vehicles. Among them, some detection sensors (such as lidar) need to protrude outside the vehicle body, and their installation height is in the range from the abdomen to the head of a human body. The detection sensor is fixed by an externally protruding mounting bracket. If a collision occurs, it will cause great damage to the human body and the vehicle. At the same time, the mounting bracket and the detection sensor will also be damaged due to the collision, and the maintenance is inconvenient. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a collision recovery device and a driverless vehicle for a driverless vehicle, which can retract the detection sensor into the vehicle body of the driverless vehicle when a collision occurs, avoiding great damage to the collider and the detection sensor, and partially solving the above problems existing in related technologies.

[0004] To achieve the above purpose, in the first aspect of the present disclosure, a collision recovery device for a driverless vehicle is provided. The collision recovery device for a driverless vehicle includes:

[0005] A base;

[0006] A sensor bracket for fixing a detection sensor, slidably connected to the base, and having a storage position inside the vehicle body and a working position protruding outside the vehicle body;

[0007] A first elastic member connected between the base and the sensor bracket; and

[0008] A locking mechanism provided between the sensor bracket and the base, having a locked state and an unlocked state;

[0009] In the locked state, the locking mechanism is used to fix the sensor bracket in the working position; when the sensor bracket is subjected to a collision force, the locking mechanism is switched from the locked state to the unlocked state, so that the sensor bracket slides along the base from the working position to the storage position under the elastic force of the first elastic member.

[0010] Optionally, the collision recovery device for a driverless vehicle further includes a collision disc, and the collision disc is connected to the sensor bracket;

[0011] The locking mechanism is configured as a locking member and a rotating shaft; the locking member is provided between the sensor bracket and the base, and is pivotally connected to the sensor bracket through the rotating shaft;

[0012] In the working position, the rear end of the locking member abuts against the front end of the base by rotation, so that the sensor bracket is fixed relative to the base; by the movement of the collision disc relative to the sensor bracket, the locking mechanism is switched from the locked state to the unlocked state, so that the sensor bracket can slide from the working position to the storage position.

[0013] Optionally, the locking mechanism further includes a second elastic member, which is connected between the locking member and the sensor bracket and is configured to reset the locking member from the unlocked state to the locked state when the sensor bracket is switched from the storage position to the working position.

[0014] Optionally, the collision disc is slidably connected to the lower end of the sensor bracket, and the front end of the collision disc protrudes from the front end of the sensor bracket.

[0015] Optionally, a first inclined surface is provided on the collision disc, and a second inclined surface matching the first inclined surface is provided on the end surface of the locking member facing the collision disc.

[0016] Optionally, a sliding structure is provided at the junction of the collision disc and the sensor bracket, and the sliding structure is configured such that when the collision disc is subjected to collisions in different directions, the collision disc slides relative to the sensor bracket in the front-rear direction to switch the locking member from the locked state to the unlocked state.

[0017] Optionally, the collision disc is configured as a horseshoe-shaped structure, and the front end of the horseshoe-shaped structure forms a convex arc surface relative to the front end of the sensor bracket.

[0018] Optionally, the sliding structure includes a chute portion provided on the collision disc and a columnar portion provided at the bottom of the sensor bracket and slidably connected to the chute portion. Along the direction away from the locking member, the width of the chute portion gradually increases.

[0019] Optionally, the number of both the chute portion and the columnar portion is three. Among them, one chute portion is provided at the front end of the collision disc, two chute portions are provided at the rear end of the collision disc and are spaced apart in the width direction of the collision disc, and the three columnar portions are respectively provided at positions of the sensor bracket corresponding to the three chute portions.

[0020] Optionally, the sliding distance of the collision disc relative to the sensor bracket is controlled by the slot length of the chute portion in the front-rear direction;

[0021] And / or, an extension portion located at the front end of the sensor bracket is provided at the front end of the collision disc, and the sliding distance of the collision disc relative to the sensor bracket is controlled by the distance between the extension portion and the front end of the sensor bracket.

[0022] Optionally, a collision detection mechanism is provided on the sensor bracket. The collision detection mechanism is configured to send an emergency stop command to the drive mechanism of the driverless vehicle when a collision occurs, and the drive mechanism brakes according to the emergency stop command.

[0023] Optionally, at least a part of the base is inside the vehicle body. The base is formed by the vehicle body or fixedly arranged on the vehicle body.

[0024] Optionally, the driverless vehicle collision recovery device further includes a guide rail and a slider;

[0025] The guide rail is fixedly arranged on the base in the front-back direction. The slider is slidably connected to the guide rail, and the sensor bracket is fixedly arranged on the slider.

[0026] In a second aspect of the present disclosure, a driverless vehicle is provided. The driverless vehicle includes a vehicle body and a detection sensor, and the driverless vehicle further includes the driverless vehicle collision recovery device according to the first aspect of the present disclosure;

[0027] An opening is provided on the side of the vehicle body. The driverless vehicle collision recovery device is configured to drive the detection sensor to be retracted from the opening to a storage position or extended from the opening to a working position.

[0028] Optionally, the number of the openings and the detection sensors is two. The two openings are respectively arranged on two sides of the vehicle body. Each opening is provided with a driverless vehicle collision recovery device, and the detection sensor is arranged on the sensor bracket of the driverless vehicle collision recovery device.

[0029] Through the above technical solution, that is, the driverless vehicle collision recovery device of the present disclosure, the detection sensor is fixed on the sensor bracket. The sensor bracket is slidably connected to the base. The first elastic member is connected between the base and the sensor bracket. The locking mechanism is arranged between the base and the sensor bracket. When the driverless vehicle is working normally, the sensor bracket can be pulled to slide to the front end of the base, that is, drive the detection sensor to be in the working position outside the vehicle body. At this time, the locking mechanism switches from the unlocked state to the locked state so that the working sensor bracket and the detection sensor are fixed in the working position. When a collision occurs, the locking mechanism switches from the locked state to the unlocked state. Under the pulling force or pressure of the first elastic member, the detection sensor and the sensor bracket slide along the base to the storage position inside the vehicle body together, thereby avoiding damage to the collider and the detection sensor.

[0030] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0031] The accompanying drawings are used to provide a further understanding of the present disclosure and form a part of the description. Together with the following detailed description, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the accompanying drawings:

[0032] Figure 1 is a structural diagram of the working position of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0033] Figure 2 is a schematic connection diagram of the unmanned vehicle collision recovery device and the detection sensor provided in some exemplary embodiments of the present disclosure;

[0034] Figure 3 is an exploded view of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0035] Figure 4 is a structural diagram of the storage position of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0036] Figure 5 is a side view of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0037] Figure 6 is a bottom view of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0038] Figure 7 is a sectional view of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0039] Figure 8 is based on Figure 7 partial enlarged view of A;

[0040] Figure 9 is an exploded view of the sensor bracket, the collision disc and the locking member in the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0041] Figure 10 is a structural diagram of the sensor bracket of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0042] Figure 11 is a structural diagram of the collision disc of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0043] Figure 12 is a structural diagram of the locking member of the unmanned vehicle collision recovery device provided in some exemplary embodiments of the present disclosure;

[0044] Figure 13It is a connection structure diagram of an unmanned vehicle collision recovery device and an unmanned vehicle body provided in some exemplary embodiments of the present disclosure.

[0045] Description of Reference Numerals

[0046] 100 - Unmanned vehicle collision recovery device; 110 - Base; 120 - Sensor bracket; 121 - First avoidance part; 1211 - Columnar part; 122 - Second avoidance part; 1221 - Second fixing groove; 130 - First elastic part; 140 - Locking part; 1401 - Second inclined surface; 1402 - First fixing groove; 141 - Rotating shaft; 142 - Second elastic part; 150 - Collision disc; 1501 - First inclined surface; 1502 - Slide groove part; 1503 - Extension part; 151 - Fixing screw; 160 - Guide rail; 170 - Slide block; 200 - Detection sensor; 300 - Vehicle body; 310 - Opening. Detailed Description of the Embodiment

[0047] The following will describe the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the present disclosure, and are not used to limit the present disclosure.

[0048] In the present disclosure, unless otherwise stated, the orientation words such as "upper, lower, left, right" are usually defined based on the drawing direction of the corresponding drawings, "inside and outside" refer to the inside and outside of the contour of the corresponding component, "far and near" refer to the distance between the corresponding structure or component and another structure or component, and "front and back" refer to Figure 1 the directions shown in

[0049] As Figures 1 to 13As shown in the figure, in the first aspect of the present disclosure, a collision recovery device 100 for a driverless vehicle is provided. The collision recovery device 100 for a driverless vehicle includes: a base 110, at least partially inside the vehicle body 300 of the driverless vehicle. Among them, the base 110 can be formed by the vehicle body 300, that is, the base 110 and the vehicle body 300 are integrally formed; or the base 110 is fixedly arranged on the vehicle body 300. The base 110 can be entirely arranged inside the vehicle body 300, or partially arranged inside the vehicle body 300 and partially arranged outside the vehicle body 300. A sensor bracket 120, used to fix the detection sensor 200, is slidably connected to the base 110, and has a storage position inside the vehicle body 300 and a working position extending outside the vehicle body 300; a first elastic member 130, connected between the base 110 and the sensor bracket 120, that is, one end of the first elastic member 130 is connected to the base 110, and the other end is connected to the sensor bracket 120. And a locking mechanism, arranged between the sensor bracket 120 and the base 110, having a locked state and an unlocked state; in the locked state, the locking mechanism is used to fix the sensor bracket 120 in the working position; when the sensor bracket 120 is subjected to a collision force, the locking mechanism switches from the locked state to the unlocked state, so that the sensor bracket 120 slides along the base 110 from the working position to the storage position under the elastic force of the first elastic member 130.

[0050] Through the above technical solution, that is, the collision recovery device 100 of the present disclosure, the base 110 can be partially or entirely arranged inside the vehicle body 300. The detection sensor 200 is fixed on the sensor bracket 120. The sensor bracket 120 is slidably connected to the base 110. The first elastic member 130 is connected between the base 110 and the sensor bracket 120. The locking mechanism is arranged between the base and the sensor bracket. When the driverless vehicle is working normally, the sensor bracket 120 can be pulled to slide to the front end of the base 110, that is, drive the detection sensor 200 to be in the working position outside the vehicle body 300. At this time, the locking mechanism switches from the unlocked state to the locked state, so that the sensor bracket 120 and the detection sensor 200 in the working state are fixed in the working position; when a collision occurs, the locking mechanism switches from the locked state to the unlocked state, and under the pulling force or pressure of the first elastic member 130, drives the detection sensor 200 and the sensor bracket 120 to slide along the base 110 to the storage position inside the vehicle body 300, thereby avoiding damage to the collider and the detection sensor 200.

[0051] It should be noted that the first elastic member 130 includes but is not limited to a spring, and can also be a spring piece or elastic rubber, etc.

[0052] Such as Figure 3 、 Figure 5 、 Figure 6 and Figure 9As shown, the locking mechanism is disposed between the sensor bracket 120 and the base 110 and has a locked state and an unlocked state. When in the locked state, the locking mechanism is used to fix the sensor bracket 120 in the working position. When the sensor bracket 120 is subjected to a collision force, the locking mechanism switches from the locked state to the unlocked state, so that the sensor bracket 120 slides from the working position to the storage position under the pulling of the first elastic member 130. That is, the sensor bracket 120 can be pulled along the base 110 from the storage position to the working position against the elastic force of the first elastic member 130. When the sensor bracket 120 is in the working position, the locking mechanism switches from the unlocked state to the locked position, thereby fixing the relative position between the sensor bracket 120 and the base 110, so that the sensor bracket 120 is maintained in the working position. When a collision occurs, the locking mechanism switches from the locked state to the unlocked state, and the sensor bracket 120 and the base 110 are unlocked. Under the pulling force of the first elastic member 130, the sensor bracket 120 and the detection sensor 200 fixed thereon slide along the base 110 towards the interior of the vehicle body 300 to the storage position inside the vehicle body 300, avoiding damage to the detection sensor 200 due to collision.

[0053] It should be noted that the first elastic member 130 can also be arranged such that when the sensor bracket 120 is in the working position, it is compressed, and the locking mechanism switches from the unlocked state to the locked position, thereby fixing the relative position between the sensor bracket 120 and the base 110, so that the sensor bracket 120 is maintained in the working position. When a collision occurs, the locking mechanism switches from the locked state to the unlocked state, and the sensor bracket 120 and the base 110 are unlocked. Under the elastic force of the first elastic member 130, the sensor bracket 120 and the detection sensor 200 fixed thereon slide along the base 110 towards the interior of the vehicle body 300 to the storage position inside the vehicle body 300. In addition to avoiding damage to the detection sensor 200, it can also reduce the damage to the human body or the vehicle to a certain extent.

[0054] The locking mechanism can be constructed in any way, such as Figure 2 and Figure 3 As shown, in some specific embodiments of the present disclosure, the unmanned vehicle collision recovery device 100 further includes a collision disc 150, and the collision disc 150 is connected to the sensor bracket 120. The sensor bracket 120 is used to fix the detection sensor 200, and one end of the sensor bracket 120 can be slidably connected to the base 110. The detection sensor 200 can be fixedly connected to the upper end surface of the sensor bracket 120, and the unlocking of the locking mechanism can be realized through the relative movement of the collision disc 150 relative to the sensor bracket 120.

[0055] The locking mechanism is configured as a locking member 140 and a rotating shaft 141; the locking member 140 is disposed between the sensor bracket 120 and the base 110, and is pivotally connected to the sensor bracket 120 through the rotating shaft 141; in the working position, the rear end of the locking member 140 abuts against the front end of the base 110 by rotation, so that the sensor bracket 120 is fixed relative to the base 110; by the movement of the collision disk 150 relative to the sensor bracket 120, the locking mechanism is switched from the locked state to the unlocked state, so that the sensor bracket 120 can slide from the working position to the storage position. When the locking member 140 rotates to the locked state, the rear end of the locking member 140 abuts against the front end of the base 110, and the first elastic member 130 is in a stretched state (as Figure 2 shown), due to the stop of the locking member 140, the sensor bracket 120 is in the working position and fixed relative to the base 110; when the locking member 140 rotates to the unlocked state, the locking member 140 will no longer support the sensor bracket 120, and the sensor bracket 120 can slide between the base 110, and driven by the elastic force of the first elastic member 130, the sensor bracket 120 returns to the storage state inside the vehicle body 300. That is, the axial direction of the rotating shaft 141 is perpendicular to the front-rear direction, the locking member 140 is pivotally connected to the lower end of the sensor bracket 120 through the rotating shaft 141, and the collision disk 150 is also connected to the lower end of the sensor bracket 120 and is located at the front end of the locking member 140. When a collision occurs, through the movement of the collision disk 150 relative to the sensor bracket 120, the collision disk 150 can contact the front end face of the locking member 140, thereby driving the locking member 140 to rotate, and realizing the switching between the locked state and the unlocked state of the locking mechanism.

[0056] As Figure 3 and Figure 7 shown, in some embodiments, the locking mechanism further includes a second elastic member 142, and the second elastic member 142 is connected between the locking member 140 and the sensor bracket 120, that is, one end of the second elastic member 142 can be connected to the sensor bracket 120, and the other end is connected to the locking member 140, and is used to reset the locking member 140 from the unlocked state to the locked state when the sensor bracket 120 is switched from the storage position to the working position. When the detection sensor 200 needs to be switched from the storage position to the working position, the sensor bracket 120 can be pulled out. When the rear end of the locking member 140 passes over the front end of the base 110, under the elastic force of the second elastic member 142, the locking member 140 automatically rotates to the locked state, thereby fixing the relative position between the sensor bracket 120 and the base 110. The second elastic member 142 is preferably a spring, but is not limited thereto, and a spring piece, elastic rubber, etc. can also be used.

[0057] In order to better fix the second elastic member 142, as Figure 10 and Figure 12As shown, in some embodiments of the present disclosure, a first fixing groove 1402 is provided on the side of the locking member 140 facing the sensor bracket 120 for fixing one end of the second elastic member 142. At the same time, a second fixing groove 1221 is provided on the side of the sensor bracket 120 facing the locking member 140 for fixing the other end of the second elastic member 142. The second elastic member 142 is compressed between the locking member 140 and the sensor bracket 120.

[0058] In some embodiments, the locking member 140 is pivotally connected to the lower end of the sensor bracket 120 through a rotating shaft 141. The axial direction of the rotating shaft 141 is perpendicular to the front-rear direction. The collision disk 150 is slidably connected to the lower end of the sensor bracket 120 and is located at the front end of the locking member 140, and the front end of the collision disk 150 protrudes from the front end of the sensor bracket 120. When a collision occurs, the collision disk 150 first contacts the collision object and drives the locking member 140 to rotate through its sliding relative to the sensor bracket 120, so as to realize the unlocking between the sensor bracket 120 and the base 110.

[0059] It should be noted that, in some other embodiments, the collision disk 150 can also rotate relatively when it is impacted, so as to drive the locking member 140 to rotate, facilitating the switching of the locking state to the unlocking state.

[0060] In order to fix the above-mentioned collision disk 150, and when the locking member 140 is in the unlocked state, the collision disk 150 and the locking member 140 slide along the front-rear direction of the base 110 together with the sensor bracket 120. A first avoidance portion 121 is provided at the front end of the bottom of the sensor bracket 120, and the collision disk 150 is slidably connected to the first avoidance portion 121; at the same time, a second avoidance portion 122 is further provided at the bottom of the sensor bracket 120, and the locking member 140 is rotatably connected to the second avoidance portion 122. When in the locked state, the rear end of the locking member 140 rotates out of the second avoidance portion 122 and abuts against the front end of the base 110, thereby fixing the sensor bracket 120. When in the unlocked state, the locking member 140 rotates into the second avoidance portion 122, so that the sensor bracket 120 can slide relative to the base 110, avoiding the influence of the presence of the locking member 140 on the movement of the sensor bracket 120 relative to the base 110. It should be noted that the first avoidance portion 121 can be formed by a notch at the front end of the bottom of the sensor bracket 120, and the second avoidance portion 122 can be a groove located at the bottom of the sensor bracket 120, and the locking member 140 can be hidden in the groove when in the unlocked state.

[0061] As Figure 7 and Figure 8As shown, in some embodiments, a first inclined surface 1501 is provided on the collision disk 150, and a second inclined surface 1401 that cooperates with the first inclined surface 1501 is provided on the end surface of the locking member 140 facing the collision disk 150. The rear end of the collision disk 150 for connecting with the locking member 140 may be provided with the first inclined surface 1501, and the front end of the locking member 140 may be provided with the second inclined surface 1401 that can cooperate with the first inclined surface 1501. Among them, the first inclined surface 1501 and the second inclined surface 1401 are in contact. From the direction of the locking member 140 towards the collision disk 150, the thickness of the first inclined surface 1501 gradually increases. At the same time, from the direction of the collision disk 150 towards the locking member 140, the thickness of the first inclined surface 1501 gradually increases. When the collision disk 150 is collided and moves towards the locking member 140, the first inclined surface 1501 slides relative to the second inclined surface 1401, so that the movement of the collision disk 150 relative to the locking member 140 is converted into the rotation of the locking member 140 around the rotating shaft 141, thereby switching the locking member 140 from the locked state to the unlocked state. In this embodiment, the middle part of the locking member 140 is rotatably connected to the lower end of the sensor bracket 120 through the rotating shaft 141. When the first inclined surface 1501 moves backward relative to the second inclined surface 1401, the front end of the locking member 140 rotates downward around the rotating shaft 141, so that the rear end of the locking member 140 rotates upward around the rotating shaft 141 to realize the switching from the locked state to the unlocked state. It should be noted that in some other embodiments, the locking member 140 may also be rotatably connected to the bottom of the sensor bracket 120 through a part that deviates from the center by a certain distance through the rotating shaft 141, and the switching of the locking mechanism state can also be realized.

[0062] During the driving process of the unmanned vehicle, situations such as moving forward, backward, and turning will be involved. Therefore, the detection sensor 200 may be impacted in different directions. In order to avoid damage to the detection sensor 200 when being collided in multiple aspects. In some physical implementation manners, a sliding structure is provided at the connection between the collision disk 150 and the sensor bracket 120. The sliding structure is configured such that when the collision disk 150 is collided in different directions, the collision disk 150 slides relative to the sensor bracket 120 in the front-rear direction to switch the locking member 140 from the locked state to the unlocked state.

[0063] The collision disk 150 can be constructed in any way, such as Figure 6 、 Figure 9 and Figure 11As shown, in some embodiments, the collision disc 150 is configured as a horseshoe-shaped structure, and the front end of the horseshoe-shaped structure forms a convex arc surface relative to the front end of the sensor bracket 120. The front end of the sensor bracket 120 can be configured as an arc corresponding to the arc surface of the horseshoe-shaped structure, and in the front-rear direction, the arc surface of the horseshoe-shaped structure protrudes from the front end of the sensor bracket 120. When a collision occurs, the collision disc 150 first contacts the collision object, so as to unlock the locking member 140 in a timely manner.

[0064] The sliding structure can be configured in any way to satisfy that when the collision member is collided in different directions, the collision member can move towards the locking member 140 and drive the locking member 140 to rotate. For example Figure 9 , Figure 10 and Figure 11 As shown, in some specific embodiments of the present disclosure, the sliding structure includes a chute portion 1502 provided on the collision disc 150 and a columnar portion 1211 provided at the bottom of the sensor bracket 120 and slidably connected to the chute portion 1502. Along the direction away from the locking member 140, the width of the chute portion 1502 gradually increases. Since there is a certain included angle between the extending direction of the chute edge of the chute portion 1502 and the front-rear direction, when the collision disc 150 is impacted in different directions, a component of the acting force in this direction in the front-rear direction is generated, so that the collision disc 150 moves towards the locking member 140 to achieve unlocking. The lower end of the columnar portion 1211 is inserted into the chute portion 1502, and a fixing screw 151 is connected to the lower end of the columnar portion 1211, so that the columnar portion is slidably connected to the chute portion 1502 without detachment.

[0065] Wherein, the number of the chute portion 1502 and the columnar portion 1211 can both be three. One chute portion 1502 is provided at the front end of the collision disc 150, and the other two chute portions 1502 are provided at the rear end of the collision disc 150 and are spaced apart in the width direction of the collision disc 150. The three columnar portions 1211 are respectively arranged at positions corresponding to the three chute portions 1502 of the sensor bracket 120. When the collision disc 150 is impacted by an object in any direction, the collision disc 150 can slide relative to the sensor bracket 120 in the front-rear direction to realize the rotation of the locking member 140.

[0066] It should be noted that the moving distance of the collision disk 150 relative to the sensor bracket 120 can be controlled by the slot length of the sliding slot portion 1502 in the front-back direction. That is, when the sensor bracket 120 is in the working position, the columnar portion 1211 is located at the rear end of the sliding slot portion 1502, and the locking member 140 is in the locked state. When the collision disk 150 is collided, the collision disk 150 slides towards the sensor bracket 120, the sliding slot portion 1502 slides relative to the columnar portion 1211, and stops sliding when the columnar portion 1211 abuts against the front end of the sliding slot portion 1502. At the same time, the first inclined surface 1501 of the collision disk 150 pushes the second inclined surface 1401 of the locking member 140, and the locking member 140 switches to the unlocked state. Of course, the moving distance of the collision disk 150 relative to the sensor bracket 120 can also be controlled by the distance between the edge of the collision disk 150 and the edge of the sensor bracket 120. An extension portion 1503 perpendicular to the front-back direction and located at the front end of the sensor bracket 120 is provided at the front end of the collision disk 150. When collided, the extension portion 1503 moves towards the sensor bracket 120, and the moving distance of the collision disk 150 relative to the sensor bracket 120 can be limited by the abutment between the extension portion 1503 and the sensor bracket 120.

[0067] In some embodiments of the present disclosure, a collision detection mechanism (not shown in the figure) is provided on the sensor bracket 120. The collision detection mechanism can be communicatively connected to the control mechanism or the driving mechanism of the unmanned vehicle. The collision detection mechanism is used to send an emergency stop instruction to the driving mechanism of the unmanned vehicle when a collision occurs, and the driving mechanism brakes according to the emergency stop instruction. It can be understood that the collision detection mechanism can be a collision switch, a pressure sensor, etc. When a collision is detected, it can timely send an emergency stop instruction to the driving mechanism of the unmanned vehicle, cut off the power, and activate the brake.

[0068] As Figure 2 and Figure 3 As shown, in some embodiments of the present disclosure, the unmanned vehicle collision recovery device 100 further includes a guide rail 160 and a slider 170; the guide rail 160 is fixedly provided on the base 110 along the front-back direction, the slider 170 is slidably connected to the guide rail 160, and the sensor bracket 120 is fixedly provided on the slider 170. The structures of the guide rail 160 and the slider 170 can ensure the smooth sliding of the sensor bracket 120 relative to the base 110, and can also guide the sensor bracket 120, so that the sensor bracket 120 and the detection sensor 200 fixed on the sensor bracket 120 can slide from the working position outside the vehicle body 300 to the storage position.

[0069] In a second aspect of the present disclosure, a driverless vehicle is provided. The driverless vehicle includes a vehicle body 300 and a detection sensor 200, and further includes the above-mentioned driverless vehicle collision recovery device 100. Among them, an opening 310 is provided on the side of the vehicle body 300. The driverless vehicle collision recovery device 100 is used to drive the detection sensor 200 to be retracted from the opening 310 to a storage position, or to extend from the opening 310 to a working position, so as to avoid damage to the object being hit or the detection sensor 200, and improve the safety of the driverless vehicle during driving.

[0070] In some embodiments, the number of both the opening 310 and the detection sensor 200 is two. The two openings 310 are respectively provided on both sides of the vehicle body 300. Each opening 310 is provided with a driverless vehicle collision recovery device 100, and the detection sensor 200 is provided on the sensor bracket 120 of the driverless vehicle collision recovery device 100. Among them, one opening 310 is provided at the left front of the vehicle body 300 in the forward direction, and the other opening 310 is provided at the right front of the vehicle body 300 in the forward direction to better cope with collisions on both sides when the driverless vehicle is moving forward. Of course, it can also be provided at the left rear and right rear of the vehicle body 300 in the forward direction to better cope with collisions on both sides when the driverless vehicle is moving backward.

[0071] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0072] In addition, it should be noted that, among the various specific technical features described in the above specific embodiments, they can be combined in any suitable manner without conflict. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination manners.

[0073] In addition, any combination can be made between various different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. An unmanned vehicle collision recovery device, characterized in that, The unmanned vehicle collision recovery device (100) includes: a base (110); a sensor bracket (120) for fixing a detection sensor (200), slidably connected to the base (110), having a storage position inside the vehicle body (300) and a working position extending outside the vehicle body (300); a first elastic member (130) connected between the base (110) and the sensor bracket (120); and a locking mechanism provided between the sensor bracket (120) and the base (110), having a locked state and an unlocked state. The first elastic member is any one of a spring, a spring plate, and an elastic rubber. In the locked state, the locking mechanism is used to fix the sensor bracket (120) in the working position. When the sensor bracket (120) is subjected to a collision force, the locking mechanism switches from the locked state to the unlocked state, so that the sensor bracket (120) slides along the base (110) from the working position to the storage position under the elastic force of the first elastic member (130). The unmanned vehicle collision recovery device (100) further includes a collision plate (150), and the collision plate (150) is connected to the sensor bracket (120). The locking mechanism is configured as a locking member (140) and a rotating shaft (141). The locking member (140) is provided between the sensor bracket (120) and the base (110) and is pivotally connected to the sensor bracket (120) through the rotating shaft (141). In the working position, the rear end of the locking member (140) abuts against the front end of the base (110) by rotation, so that the sensor bracket (120) is fixed relative to the base (110). Through the movement of the collision plate (150) relative to the sensor bracket (120), the locking mechanism is switched from the locked state to the unlocked state, so that the sensor bracket (120) can slide from the working position to the storage position. A sliding structure is provided at the connection between the collision plate (150) and the sensor bracket (120), and the sliding structure is configured such that when the collision plate (150) is subjected to collisions in different directions, the collision plate (150) slides relative to the sensor bracket (120) in the front-rear direction to switch the locking member (140) from the locked state to the unlocked state.

2. The unmanned vehicle collision recovery device according to claim 1, wherein The locking mechanism further includes a second elastic member (142), and the second elastic member (142) is connected between the locking member (140) and the sensor bracket (120) and is used to reset the locking member (140) from the unlocked state to the locked state when the sensor bracket (120) switches from the storage position to the working position.

3. The unmanned vehicle collision recovery device according to claim 1, characterized in that, The collision plate (150) is slidably connected to the lower end of the sensor bracket (120), and the front end of the collision plate (150) protrudes from the front end of the sensor bracket (120).

4. The unmanned vehicle collision recovery device according to claim 3, wherein A first inclined surface (1501) is provided on the collision disc (150), and a second inclined surface (1401) that cooperates with the first inclined surface (1501) is provided on the end surface of the locking member (140) facing the collision disc (150).

5. The unmanned vehicle collision recovery device according to claim 1, wherein The collision disc (150) is configured as a horseshoe-shaped structure, and the front end of the horseshoe-shaped structure forms a convex arc surface relative to the front end of the sensor bracket (120).

6. The unmanned vehicle collision recovery device according to claim 1, characterized in that, The sliding structure includes a chute portion (1502) provided on the collision disc (150) and a columnar portion (1211) provided at the bottom of the sensor bracket (120) and slidably connected to the chute portion (1502). Along the direction away from the locking member (140), the width of the chute portion (1502) gradually increases.

7. The unmanned vehicle collision recovery device according to claim 6, wherein, The number of the chute portion (1502) and the columnar portion (1211) is three. Among them, one chute portion (1502) is provided at the front end of the collision disc (150), and two chute portions (1502) are provided at the rear end of the collision disc (150) and are spaced apart in the width direction of the collision disc (150). The three columnar portions (1211) are respectively provided at positions of the sensor bracket (120) corresponding to the three chute portions (1502).

8. The unmanned vehicle collision recovery device according to claim 7, characterized in that, The sliding distance of the collision disc (150) relative to the sensor bracket (120) is controlled by the slot length of the chute portion (1502) in the front-rear direction; and / or, an extension portion (1503) located at the front end of the sensor bracket (120) is provided at the front end of the collision disc (150), and the sliding distance of the collision disc (150) relative to the sensor bracket (120) is controlled by the distance between the extension portion (1503) and the front end of the sensor bracket (120).

9. The unmanned vehicle collision recovery device according to claim 1, wherein, A collision detection mechanism is provided on the sensor bracket (120). The collision detection mechanism is used to send an emergency stop command to the drive mechanism of the driverless vehicle when a collision occurs, and the drive mechanism brakes according to the emergency stop command.

10. The unmanned vehicle collision recovery device according to claim 1, wherein At least a part of the base (110) is inside the vehicle body (300). The base (110) is formed by the vehicle body (300), or the base (110) is fixedly provided on the vehicle body (300).

11. The unmanned vehicle collision recovery device according to claim 1, wherein, The driverless vehicle collision recovery device (100) further includes a guide rail (160) and a slider (170); the guide rail (160) is fixedly provided on the base (110) in the front-rear direction, the slider (170) is slidably connected to the guide rail (160), and the sensor bracket (120) is fixedly provided on the slider (170).

12. An autonomous vehicle, the autonomous vehicle comprising a vehicle body (300) and a detection sensor (200), characterized in that, The driverless vehicle further includes the driverless vehicle collision recovery device (100) according to any one of claims 1-11; an opening (310) is provided on the side of the vehicle body (300), and the driverless vehicle collision recovery device (100) is used to drive the detection sensor (200) to be recovered from the opening (310) to the storage position, or to extend from the opening (310) to the working position.

13. The driverless vehicle according to claim 12, characterized in that, The number of the openings (310) and the detection sensors (200) is two. The two openings (310) are respectively arranged on both sides of the vehicle body (300). Each opening (310) is provided with one unmanned vehicle collision recovery device (100), and the detection sensor (200) is arranged on the sensor bracket (120) of the unmanned vehicle collision recovery device (100).

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