Mobile chassis, installation system, object docking method and autonomous driving test method

Abstract

This disclosure provides a mobile chassis, a mounting system, an object docking method, and an autonomous driving testing method, relating to the field of autonomous driving technology, and particularly to the field of autonomous vehicle testing. The specific implementation is as follows: The mobile chassis includes a housing, drive wheels, a ranging sensor, and a docking mechanism. A docking hole is formed at the top of the housing for accommodating a support portion of an object. The drive wheels are spaced apart circumferentially along the housing. The ranging sensor is located at the top for detecting the position of the support portion. The docking mechanism includes multiple actuators slidably disposed within the housing, arranged circumferentially along the docking hole. A locking portion is formed at the end of each actuator near the docking hole. When the actuators slide to a first sliding position, the locking portions of the actuators are located within the docking hole and together form a locking area for clamping the support portion. According to this disclosure, automated connection and fixing of objects can be achieved without human intervention.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and more particularly to the field of autonomous vehicle testing. Background Technology

[0002] In the field of autonomous driving, the autonomous driving test of vehicles is very important. When testing the extreme scenarios of vehicles in closed autonomous driving test sites, in order to ensure safety and controllability, it is often necessary to use dummies and dummy vehicles to move in all directions to simulate the surrounding real environment during the vehicle's driving process. Summary of the Invention

[0003] This disclosure provides a mobile chassis, an installation system, an object docking method, and an autonomous driving testing method.

[0004] According to one aspect of this disclosure, a mobile chassis is provided, comprising:

[0005] The shell has a docking hole at the top for accommodating the support part of the object;

[0006] Multiple drive wheels are spaced apart circumferentially along the housing;

[0007] A distance sensor, located at the top, is used to detect the position of the support; and

[0008] The docking mechanism includes a plurality of actuators slidably disposed in the housing, the plurality of actuators being arranged at circumferential intervals along the docking hole, and a locking part being formed at one end of the plurality of actuators near the docking hole;

[0009] When multiple actuators slide to the first sliding position, the locking parts of the multiple actuators are located in the mating holes and together form a locking area for clamping the support.

[0010] According to another aspect of this disclosure, an installation system is provided, comprising:

[0011] A storage compartment includes a compartment body, an object, and a conveying device. The conveying device is located in the compartment body. The object includes a connecting part and a supporting part arranged opposite to each other. The connecting part is connected to the conveying device. The conveying device is used to transport the object to the outlet of the compartment body.

[0012] At least one movable chassis according to any embodiment of this disclosure is used to control a plurality of actuators to slide to a first sliding position and clamp the support when an object is released by a conveying device and the support is inserted into a docking hole; and

[0013] The control unit, electrically connected to the mobile chassis and storage compartment, is used to control the movement of the mobile chassis and to control the release of the object from the conveyor.

[0014] According to another aspect of this disclosure, a method for object docking is provided, applied to an installation system according to any embodiment of this disclosure, comprising:

[0015] Control the mobile chassis to travel to the preset area below the storage compartment's outlet;

[0016] Upon receiving an alignment signal from the mobile chassis, the control unit of the storage compartment releases the object located at the outlet; wherein, the alignment signal is sent when the ranging sensor of the mobile chassis detects that the support of the object is aligned with the docking hole of the mobile chassis; and

[0017] Upon receiving a docking signal from the mobile chassis, the system controls the mobile chassis to move away from the preset area; wherein, the docking signal is sent when multiple actuators of the mobile chassis slide to the first sliding position and clamp the support.

[0018] According to another aspect of this disclosure, a method for object docking is provided, applied to an installation system according to any embodiment of this disclosure, comprising:

[0019] When the object moves to a preset area below the outlet of the storage compartment, the relative position information of the support of the object located at the outlet is detected by a ranging sensor.

[0020] When the alignment of the support and the docking hole is determined based on the relative position information, an alignment signal is sent to the control unit, so that the control unit controls the storage compartment to release the object according to the alignment signal; and

[0021] When the support part of the object is inserted into the docking hole, multiple actuators are controlled to slide to the first sliding position so that the multiple actuators clamp the support part.

[0022] According to another aspect of this disclosure, a method for testing autonomous driving is provided, applied to an installation system according to any embodiment of this disclosure, comprising:

[0023] If, based on the test information of the autonomous vehicle, it is determined that an obstacle is required, the mobile chassis is controlled to travel to a preset area below the exit of the storage compartment.

[0024] Upon receiving an alignment signal from the mobile chassis, the control unit of the storage compartment releases an object positioned at the outlet as an obstacle; wherein the alignment signal is sent when the mobile chassis's ranging sensor detects that the object's support is aligned with the docking hole of the mobile chassis; and

[0025] Upon receiving a docking signal from the mobile chassis, the system controls the mobile chassis to leave the preset area according to the planned route; wherein, the docking signal is sent when multiple actuators of the mobile chassis slide to the first sliding position and clamp the support; the planned route is generated based on obstacle information in the test information.

[0026] According to another aspect of this disclosure, an object docking apparatus is provided, applied to the installation system of any embodiment of this disclosure, comprising:

[0027] The first control module is used to control the mobile chassis to travel to a preset area below the outlet of the storage compartment;

[0028] The second control module is used to control the conveying device of the storage compartment to release the object located at the outlet when it receives the alignment signal from the mobile chassis; wherein, the alignment signal is sent when the ranging sensor of the mobile chassis detects that the support part of the object is aligned with the docking hole of the mobile chassis.

[0029] The third control module is used to control the mobile chassis to leave the preset area when a docking signal is received from the mobile chassis; wherein the docking signal is sent when multiple actuators of the mobile chassis slide to the first sliding position and clamp the support.

[0030] According to another aspect of this disclosure, an object docking apparatus is provided, applied to the installation system of any embodiment of this disclosure, comprising:

[0031] The detection module is used to detect the relative position information of the support part of the object located at the outlet of the storage compartment when the object moves to a preset area below the outlet of the storage compartment.

[0032] The first sending module is used to send an alignment signal to the control unit when the support part is determined to be aligned with the docking hole based on the relative position information, so that the control unit controls the storage compartment to release the object according to the alignment signal;

[0033] The clamping control module is used to control multiple actuators to slide to a first sliding position when the support of the object is inserted into the docking hole, so that the multiple actuators clamp the support.

[0034] According to another aspect of this disclosure, an apparatus for testing autonomous driving is provided, applied to an installation system according to any embodiment of this disclosure, comprising:

[0035] The first driving control module is used to control the mobile chassis to drive to a preset area below the storage compartment's outlet when it is determined from the test information of the autonomous vehicle that an obstacle is required.

[0036] A release module, used to control the conveyor of the storage compartment to release an object located at the outlet, which serves as an obstacle, upon receiving an alignment signal from the mobile chassis; wherein the alignment signal is sent when the ranging sensor of the mobile chassis detects that the support of the object is aligned with the docking hole of the mobile chassis; and

[0037] The second driving control module is used to control the mobile chassis to leave the preset area according to the planned route when it receives the docking signal from the mobile chassis; wherein, the docking signal is sent when multiple actuators of the mobile chassis slide to the first sliding position and clamp the support part; the planned route is generated based on the obstacle information in the test information.

[0038] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0039] At least one processor; and

[0040] The memory is communicatively connected to the at least one processor; wherein,

[0041] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform any of the methods described in the present disclosure.

[0042] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform any of the methods according to embodiments of this disclosure.

[0043] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements any of the methods according to embodiments of this disclosure.

[0044] According to the technology disclosed herein, it is possible to automatically connect fixed objects without human intervention.

[0045] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0046] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0047] Figure 1 This is a schematic diagram showing a mobile chassis not docked with an object according to an embodiment of this disclosure;

[0048] Figure 2 This is a schematic diagram showing the docking of a mobile chassis with an object according to an embodiment of this disclosure;

[0049] Figure 3 This is a schematic diagram of the internal structure of a mobile chassis according to an embodiment of the present disclosure;

[0050] Figure 4 A schematic diagram of the internal structure of a mobile chassis according to an embodiment of the present disclosure;

[0051] Figure 5 A schematic diagram of the internal structure of a mobile chassis according to an embodiment of the present disclosure;

[0052] Figure 6 A schematic diagram of the internal structure of a mobile chassis according to an embodiment of the present disclosure;

[0053] Figure 7 A schematic diagram of the docking mechanism inside the mobile chassis according to an embodiment of the present disclosure docking process with an object;

[0054] Figure 8 A schematic diagram of the docking mechanism inside the mobile chassis according to an embodiment of the present disclosure docking process with an object;

[0055] Figure 9 A schematic diagram of the docking mechanism inside the mobile chassis according to an embodiment of the present disclosure docking process with an object;

[0056] Figure 10 A schematic diagram showing the docking mechanism inside the mobile chassis of this disclosure completing docking with an object;

[0057] Figure 11 A schematic diagram illustrating the working process of a ranging sensor for a mobile chassis according to an embodiment of the present disclosure;

[0058] Figure 12 A schematic diagram of the installation system according to an embodiment of the present disclosure;

[0059] Figure 13 A flowchart illustrating the object docking method according to an embodiment of this disclosure;

[0060] Figure 14 A flowchart illustrating the object docking method according to an embodiment of this disclosure;

[0061] Figure 15 A flowchart illustrating the method for testing autonomous driving according to embodiments of this disclosure;

[0062] Figure 16 A schematic diagram of an object docking device according to an embodiment of the present disclosure;

[0063] Figure 17 A schematic diagram of an object docking device according to an embodiment of the present disclosure;

[0064] Figure 18A schematic diagram of an apparatus for testing autonomous driving according to an embodiment of this disclosure;

[0065] Figure 19 This is a block diagram of an electronic device used to implement the object docking method and / or autonomous driving test method of the embodiments of this disclosure. Detailed Implementation

[0066] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0067] like Figures 1 to 10 As shown, this embodiment of the present disclosure provides a mobile chassis 100, including: a housing 1, a plurality of drive wheels 2, a ranging sensor 3, and a docking mechanism.

[0068] The top of the housing 1 has a docking hole 11 for accommodating the support portion 210 of the object 200 to be supported. The support portion 210 is used to support the object 200 when it is inserted into the docking hole 11.

[0069] Multiple drive wheels 2 are arranged at circumferential intervals along the housing 1.

[0070] A ranging sensor 3 is mounted on the top to detect the relative distance between the support 210 and itself. Based on the detected distance, the docking hole 11 is positioned to determine whether the support 210 is aligned with the docking hole 11, i.e., whether it is directly above the docking hole 11, so that the object 200 can allow the support 210 to fall vertically into the docking hole 11 under the action of gravity. If the detected distance determines that the support 210 is not aligned with the docking hole 11, the position of the docking hole 11 is adjusted by moving the chassis 100 to position the docking hole 11 so that it is aligned vertically with the support 210.

[0071] The docking mechanism includes a plurality of actuators 4 slidably disposed in the housing 1. The plurality of actuators 4 are arranged at intervals along the circumferential direction of the docking hole 11, and a locking part 41 is formed at one end of the plurality of actuators 4 near the docking hole 11.

[0072] When multiple actuators 4 slide to the first sliding position, the locking portions 41 of the multiple actuators 4 are located in the docking holes 11 and together form a locking area for clamping the support portion 210.

[0073] According to the embodiments of this disclosure, it should be noted that:

[0074] definition Figure 1 The upper part of the middle shell 1 corresponds to the directions described in the embodiments of this disclosure as top, upper part, and upper surface. Definition Figure 1 The lower part of the middle shell 1 corresponds to the bottom, lower part, and lower part as described in the embodiments of this disclosure.

[0075] The shape, size, material, and internal spatial structure of the shell 1 can all be selected and adjusted as needed, and no specific limitations are imposed here. For example, the shape of the shell 1 can be triangular, rectangular, circular, etc.

[0076] The diameter of the mating hole 11 can be adjusted according to the end size of the support 210 to ensure that the support 210 can smoothly fall into the interface of the mating hole 11 under the action of gravity. The position of the mating hole 11 on the housing 1 can be selected and adjusted as needed to ensure that it will not cause the center of gravity to shift and tip over after the object 200 is mated. For example, if the object 200 has a generally symmetrical structure and its center of gravity is at the center of the object 200, the mating hole 11 can be set at the top center of the housing 1. Or, if the object 200 has an irregular structure and its center of gravity is not at the center of the object 200, the mating hole 11 can be set at a position on the housing 1 that is symmetrical to the center of gravity of the object 200.

[0077] Object 200 can be understood as any object that can be carried and transported by the mobile chassis 100. For example, when the mobile chassis 100 is used in a closed-field testing scenario for autonomous driving, object 200 can be understood as obstacles stored in the storage compartment 300. Obstacles can include dummies, fake trees, fake animals, fake vehicles, etc., and can be any object 200 that can participate in the testing of autonomous vehicles and act as obstacles in real-world operating scenarios. Similarly, when the mobile chassis 100 is used in a warehousing scenario, object 200 can be goods to be transported.

[0078] Multiple drive wheels 2 can be installed on the bottom surface of the housing 1 or on the outer perimeter of the housing 1, ensuring smooth movement of the mobile chassis 100 without causing collisions or friction between the bottom surfaces of the housing 1. The specific structure of the drive wheels 2 can be selected and adjusted as needed, and is not specifically limited here. For example, the drive wheels 2 can be omnidirectional wheels or conventional wheels. When the drive wheels 2 are omnidirectional wheels, the mobile chassis 100 can achieve 360° all-around driving without blind spots.

[0079] The number of distance sensors 3 and their placement on the top of the housing 1 can be selected and adjusted as needed to ensure that the support 210 can be detected and the relative position between the support 210 and the distance sensor 3 itself can be determined. The distance sensor 3 can be any sensor structure available in the prior art, as long as it can achieve distance detection. For example, the distance sensor 3 can be a sensor that achieves distance measurement through laser or image capture.

[0080] Multiple actuators 4 can be understood as including at least two actuators 4. The number of actuators 4 can be selected and adjusted according to the structural dimensions of the support 210, ensuring that when the multiple actuators 4 slide to the first sliding position, the locking parts 41 of the multiple actuators 4 can cover the outer surface of the support 210, thereby clamping and fixing the support 210. The specific sliding mechanism used by the actuators 4 to achieve the sliding function in the housing 1 is not specifically limited here, as long as it enables the actuators 4 to slide back and forth between the first sliding position and the second sliding position.

[0081] The first sliding position is when the actuator 4 slides toward the docking hole 11 until the locking part 41 can contact the outer surface of the support part 210. When the support part 210 is inserted into the docking hole 11 and the locking object 200 needs to be fixed, the plurality of actuators 4 slide from the second sliding position to the first sliding position.

[0082] The second sliding position is the position where the actuator 4 is away from the docking hole 11. When the support 210 is inserted into the docking hole 11 and the object 200 needs to be released, the support 210 is pulled out of the docking hole 11, and the multiple actuators 4 slide from the first sliding position to the second sliding position so that the locking part 41 of the multiple actuators 4 can release the support 210.

[0083] When the multiple actuators 4 slide to the first sliding position, the inner edge shape of the locking area formed by the locking parts 41 of the multiple actuators 4 matches the outer edge shape of the support 210, and the inner edge dimension of the locking area matches the outer edge dimension of the support 210. This ensures that the support 210 does not wobble horizontally or move vertically when clamped by the multiple locking parts 41. In other words, the outer edge shape of the support 210 can be the same as or different from the shape of the locking area formed by the multiple locking parts 41. In the case of different shapes, it is sufficient to ensure that the support 210 does not wobble or move within the locking area. For example, when the support 210 is a cylinder, its outer edge shape is circular, and the shape of the side wall of each locking part 41 that contacts the support 210 can be arc-shaped. The locking area formed by the multiple locking parts 41 is a circle that matches the outer edge shape of the support 210. For example, when the support part 210 is a cylinder, the outer edge of the support part 210 is circular, the shape of the side wall of each locking part 41 that contacts the support part 210 can be a plane, and the locking area enclosed by multiple locking parts 41 is a rectangle. The distance between the two opposite planes of the rectangle is adapted to the diameter of the circle of the support part 210.

[0084] According to the technology of this disclosure, with the cooperation of the ranging sensor 3 and the docking mechanism of the mobile chassis 100, the support part 210 of the object 200 and the docking hole 11 can be accurately docked and positioned, ensuring the accurate relative position of the docking mechanism and the support part 210 of the object 200, and achieving a stable docking with the support part 210 of the object 200. Multiple locking parts 41 prevent the object 200 from shaking or shifting, improving the connection reliability. This allows the mobile chassis 100 to automatically connect, fix, and transport the object 200 without human intervention. This increases the degree of automation in the application scenarios of the mobile chassis 100, reduces human intervention, and improves the work efficiency of the application scenarios.

[0085] In one application example, autonomous driving testing is crucial in the field of autonomous driving. In closed test tracks, when testing vehicles in extreme scenarios, obstacles such as dummies and fake vehicles are often used to construct the scenario for safety and controllability. To enable the dummies and fake vehicles to move omnidirectionally, an omnidirectional mobile chassis 100 is used as the mobile device. However, the installation of the dummies, fake vehicles, and other obstacles onto the mobile chassis 100 is still done manually, thus limiting the progress of unmanned testing in closed test tracks and making it difficult to achieve true unmanned operation, thus reducing the efficiency of autonomous driving testing. The mobile chassis 100 of this embodiment can be applied in closed test track environments for autonomous driving (unmanned driving) to carry obstacles (objects 200) such as dummies, fake trees, and fake animals, and move these obstacles to simulate the movement of obstacles in real vehicle driving scenarios. The positioning module of the mobile chassis 100 is used for coarse positioning to move the mobile chassis 100 to the outlet of the storage compartment 300 containing the objects 200. Upon reaching the exit, the distance sensor 3 is used to accurately position the docking hole 11 and the dummy's support 210. Then, the storage compartment releases the dummy. When the dummy's support 210 falls vertically into the docking hole 11, multiple actuators 4 slide to the first sliding position, thereby achieving rapid docking of the mobile chassis 100 with the family member. The entire process requires no manual intervention, which is of great significance and value for improving the testing efficiency of the test site.

[0086] In one example, to securely connect the support 210 of the object 200, the contact area between the locking part 41 and the support 210 can be increased. The locking part 41 of each of the plurality of actuators 4 can be provided to extend vertically, and the end face shape of the locking part 41 of each actuator 4 facing the mating hole 11 is adapted to the shape of the outer side wall of the support 210.

[0087] According to the embodiments of this disclosure, it should be noted that:

[0088] The vertical extension direction of each locking part 41 is not specifically defined here. For example, as Figure 4 As shown, the locking part 41 can extend upwards in a vertical direction toward the top of the housing 1. Alternatively, it can extend along... Figure 4 In the opposite direction shown, it extends downward toward the bottom of the housing 1. This extension increases the contact area of ​​the end face on the side where each locking part 41 connects to the support part 210.

[0089] The outer edge shape of the support portion 210 can be the same as or different from the shape of the end face of the plurality of locking portions 41 facing the mating hole 11. For example, when the support portion 210 is cylindrical, the outer edge shape of the support portion 210 is circular, and the shape of the side wall of each locking portion 41 that contacts the support portion 210 can be arc-shaped, and the locking area enclosed by the plurality of locking portions 41 is a circle that matches the outer edge shape of the support portion 210. As another example, when the support portion 210 is cylindrical, the outer edge shape of the support portion 210 is circular, and the shape of the side wall of each locking portion 41 that contacts the support portion 210 can be flat, and the locking area enclosed by the plurality of locking portions 41 is rectangular, and the distance between the two opposite planes of the rectangle matches the diameter of the circle of the support portion 210.

[0090] According to the technology of this disclosure, by extending the locking part 41, the contact area with the support part 210 can be increased, thereby improving the reliability of the mobile chassis 100 docking with the object 200. The end face shape of the side of the locking part 41 that contacts the outer wall of the support part 210 is adapted to the shape of the support part 210, which can play a role in fine-tuning the position of the support part 210 to a certain extent. Even if the support part 210 has a certain positional deviation when it falls vertically into the docking hole 11, during the process of the multiple actuators 4 moving to the first sliding position, the multiple locking parts 41 can also push the support part 210 to gradually move to the center of the docking hole 11, thereby realizing the fine-tuning of the position of the support part 210, so that the locking area formed by each locking part 41 can firmly fix the support part 210.

[0091] In one implementation, such as Figure 1 , Figure 2 As shown, there are at least two ranging sensors 3, which are arranged at circumferential intervals along the docking hole 11.

[0092] The relative distance between the support 210 and itself is detected by each ranging sensor 3. If the detection results of each ranging sensor 3 meet the threshold distance requirement, it indicates that the support 210 and the docking hole 11 are accurately positioned and aligned in the vertical direction, that is, their central axes coincide. If the detection result of any of the ranging sensors 3 does not meet the threshold distance requirement, it indicates that the docking hole 11 and the support 210 are not aligned, and the position of the docking hole 11 needs to be finely adjusted by moving the movable chassis 100.

[0093] Among them, the principle of fine-tuning is as follows: Figure 11As shown, the preset threshold distance between the ranging sensor 3 and the support 210 is a fixed value A. When the distance between both ranging sensors 3 and the edges of the support 210 is A, it indicates that the mating hole 11 and the support 210 have been aligned. If the distance between the ranging sensor 3 and the edge of the support 210 is not A, the movable chassis 100 is moved within a small range. Since the support 210 is usually a regular-shaped structure, the surface formed by the two ranging sensors 3 can always detect the support 210 when the movable chassis 100 moves within a small range. Based on the ranging module with the closest distance between the two ranging sensors 3, the chassis 100 is moved in the measured direction to make the measured values ​​of the two ranging sensors 3 smaller. Finally, a point position can always be determined. When a point position is determined, but another point is not determined on the other side, a trajectory line similar to O1 to O2 as shown in the figure can be obtained based on the distance relationship between the two. The movable chassis 100 moves along the trajectory line and finally reaches the circle position shown by the dashed line, which completes the fine adjustment. At this time, the distance between the two ranging sensors 3 and the edge of the support 210 is A, and the docking hole 11 is aligned with the support 210.

[0094] According to the technology of the present disclosure, by means of a plurality of ranging sensors 3 arranged circumferentially along the docking hole 11, the docking hole 11 and the support part 210 of the object 200 can be accurately positioned, ensuring that when the object 200 is released and falls vertically, the support part 210 can accurately fall into the docking hole 11, thereby enabling the plurality of actuators 4 to further lock the support part 210.

[0095] In one example, when the ranging sensor 3 is a laser ranging sensor 3, it includes a signal transmitter and a signal receiver. The signal transmitter is used to transmit laser signals, and the signal receiver is used to receive reflected laser signals.

[0096] In one implementation, such as Figures 3 to 6 As shown, the docking mechanism also includes a rotating component 5 rotatably disposed in the housing 1, and the rotating component 5 is connected to a plurality of actuators 4 one-to-one through a plurality of connectors 51.

[0097] When the rotating component 5 rotates to the first rotating position, multiple connecting parts 51 drive multiple actuating parts 4 to slide to the first sliding position. Under the rotation of the rotating component 5, the connecting parts 51 move together with the rotating component 5. At this time, the end of the connecting part 51 connected to the actuating part 4 will be displaced, thereby pushing the actuating part 4 to slide.

[0098] According to the embodiments of this disclosure, it should be noted that:

[0099] The rotating connection mechanism and drive mechanism used for the rotatable connection between the rotating component 5 and the housing 1 are not specifically limited here. They can be selected and adjusted as needed to enable the rotating component 5 to rotate relative to the housing 1.

[0100] The number of connectors 51 is the same as the number of actuators 4, with each connector 51 connecting to one actuator 4. The structure of the connector 51 can be selected as needed and is not specifically limited here, as long as it can connect between the actuator 4 and the rotating component 5 and drive the actuator 4 to move to the first sliding position.

[0101] The rotating component 5 rotates between a first rotating position and a second rotating position. When the rotating component 5 rotates to the first rotating position, it drives the actuating component 4 to slide to the first sliding position. When the rotating component 5 rotates to the second rotating position, it drives the actuating component 4 to slide to the second sliding position.

[0102] According to the technology of the present disclosure, by the cooperation of the rotating component 5 and the connecting component 51, the actuating component 4 can be automatically moved to the first sliding position, thereby achieving the clamping and fixing of the support 210.

[0103] In one embodiment, one end of each of the plurality of connectors 51 is rotatably connected to the rotating member 5, and the other end of each connector 51 is rotatably connected to the corresponding actuating member 4.

[0104] According to the embodiments of this disclosure, it should be noted that:

[0105] The connector 51 can be a rod-shaped structure, a plate-shaped structure, etc., and there is no specific limitation here. It is just that it can achieve rotatable connection between the two ends of the connector 51 and the rotating part 5 respectively.

[0106] According to the technology of the present disclosure, since the two ends of the connector 51 are rotatably connected to the rotating component 5 and the actuating component 4 respectively, a linkage mechanism can be formed, making the movement between the three more flexible, and the actuating component 4 can slide together synchronously when the rotating component 5 rotates.

[0107] In one implementation, such as Figure 3 , Figure 4 , Figure 5 As shown, the mobile chassis 100 also includes a drive component 6, which is disposed in the housing 1 and has a power output end 61. The rotating component 5 is provided with a mating part 52, and the power output end 61 is connected to the mating part 52 of the rotating component 5. The power output end 61 drives the rotating component 5 to rotate through the mating part 52.

[0108] According to the embodiments of this disclosure, it should be noted that:

[0109] The connection method between the power output end 61 and the mating part 52 can be selected and adjusted as needed, and is not specifically limited here. For example, the power output end 61 and the mating part 52 can be connected by gear meshing, and the clockwise or counterclockwise rotation of the mating part 52 is achieved through the forward or reverse meshing of the gears, thereby driving the rotating part 5 to rotate together. Alternatively, the power output end 61 can be a lifting rod of a lifting mechanism, and the extension and retraction of the lifting rod drives the mating part 52 to reciprocate, thereby driving the rotating part 5 to rotate together. Another example is that the power output end 61 can be the output shaft of a motor or the output shaft of a reducer connected to the motor, and the mating part 52 can be a shaft hole located at the center of the bottom of the rotating part 5, with the output shaft connected to the shaft hole, driving the rotating part to rotate together when the shaft rotates.

[0110] The drive component 6 can be any power-providing device in the prior art, capable of driving the rotating component 5 to rotate using the power output end 61 to drive the mating part 52. For example, the drive component 6 can be a motor or a reducer connected to a motor.

[0111] According to the technology of the present disclosure embodiments, by setting the driving component 6, the rotation direction and speed of the rotating component 5 can be controlled, thereby realizing indirect linkage control of the sliding direction and sliding speed of the execution component 4.

[0112] In one implementation, such as Figure 3 , Figure 4 , Figure 5 As shown, the mobile chassis 100 also includes a tray 7 and a gravity sensor. The tray 7 is disposed in the housing 1 and corresponds to the position of the docking hole 11, and is used to support the support part 210.

[0113] A gravity sensor is connected to the tray 7 and the drive component 6 to detect changes in the gravity of the tray 7 and send control information to the drive component 6. Specifically, when the gravity sensor detects an increase in the gravity of the tray 7, it sends a control signal to the drive component 6, causing the drive component 6 to control the rotating component 5 to rotate to a first rotation position, thereby driving the actuator 4 to slide to a first sliding position.

[0114] According to the embodiments of this disclosure, it should be noted that:

[0115] The placement of the gravity sensors on tray 7 and the number of gravity sensors can be selected and adjusted as needed, as long as they can detect changes in the gravity of tray 7.

[0116] The shape and size of the tray 7 can be adjusted according to the shape and structure of the end of the support part 210. The tray 7 can be a separate layer structure connected to the inside of the housing 1, or it can be integrated with the rotating part 5 or the guide part 8.

[0117] According to the technology of this disclosure embodiment, the timing of multiple actuators 4 sliding to the first sliding position to lock the support portion 210 of the object 200 can be accurately determined by the tray 7 and the gravity sensor. When the support portion 210 falls into the docking hole 11, a fast and secure connection to the object 200 can be achieved immediately.

[0118] In one example, the mobile chassis 100 is used in a closed test environment for autonomous driving to carry obstacles (objects 200) such as dummies, trees, and animals, and move these obstacles to simulate their movement in a real vehicle driving scenario. After the mobile chassis 100 moves to the outlet of the storage compartment 300, the storage compartment 300 releases the dummies. Since the dummies themselves are relatively light, the support part 210 connecting to the dummies is relatively heavy, and the distance between the support part 210 and the mobile chassis 100 is relatively short, the support part 210 of the dummies will fall vertically onto the tray 7. At this time, the gravity sensor detects the change in gravity of the tray 7 and sends a control signal to the drive component 6, so that the drive component 6 drives the rotating component 5 to rotate, which in turn causes the rotating component 5 to move the execution component 4 to the first sliding position to automatically lock the support part 210.

[0119] In one implementation, such as Figures 4 to 6 As shown, the power output end 61 includes a gear, which is connected to the rotating shaft of the drive component 6. The mating part 52 is provided with multiple teeth, which mesh with the gear. When the gear rotates under the drive of the rotating shaft, the teeth meshing with the gear will rotate accordingly, thereby driving the rotating component 5 to rotate.

[0120] According to the technology of the present disclosure embodiments, the rotation direction and speed of the rotating component 5 can be controlled by the cooperation of gears and multiple teeth, thereby realizing indirect linkage control of the sliding direction and sliding speed of the execution component 4.

[0121] In one example, such as Figures 4 to 6As shown, the rotating component 5 has a disc-shaped structure. A rotating shaft and / or bearing, rotatably connected to the housing 1, are located at the center of the rotating component 5. The rotating component 5 is coaxially arranged with the mating hole 11. The rotating component 5 includes four circumferentially spaced support arms 53. One support arm 53 has a mating part 52, and the outer edge of the mating part 52 has multiple teeth. A driving component 6 is located at a position corresponding to the mating part 52. The power output end 61 of the driving component 6 has a gear that meshes with the multiple teeth. The connecting member 51 has a rod-shaped structure, and there are four connecting members 51 and four actuating components 4. Each connecting member 51 corresponds to one support arm 53 and one actuating component 4. One end of the connecting member 51 is rotatably connected to the support arm 53, and the other end of the connecting member 51 is rotatably connected to the actuating component 4. It should be noted that the number of support arms 53, the number of connecting members 51, and the number of actuating components 4 can be adjusted as needed, and are not limited to four; they can also be set to two, three, five, or even more. The four numbers in this embodiment are only for illustrative purposes.

[0122] In one example, such as Figure 4 As shown, the actuator 4 can be a fan-shaped structure, with the superior arc end of the fan shape located near the edge of the housing 1, and the inferior arc end of the fan shape located near the docking hole 11. The locking part 41 is located at the inferior arc end.

[0123] In one implementation, such as Figure 3 , Figure 4 , Figure 5 As shown, the docking mechanism also includes a guide component 8 disposed in the housing 1. The guide component 8 includes a plurality of guide grooves 81 arranged circumferentially along the docking hole 11, and a plurality of actuators 4 are slidably disposed in the plurality of guide grooves 81 in a corresponding manner.

[0124] According to the embodiments of this disclosure, it should be noted that:

[0125] The shape of the guide slide 81 can be selected and adjusted as needed to ensure that the actuator 4 can slide along the guide slide 81 to be close to the docking hole 11, so that the locking part 41 is located in the docking hole 11.

[0126] Multiple actuators 4 are slidably disposed in multiple guide grooves 81, one-to-one, which can be understood as each guide groove 81 being connected to one actuator 4.

[0127] To ensure a smooth connection between the actuator 4 and the guide slide 81, such as Figure 5 As shown, at least one slider 42 can be provided at the bottom of the actuator 4. The slider 42 is slidably disposed in the guide groove 81.

[0128] According to the technology of the present disclosure, by providing the guide member 8, the execution member 4 can be smoothly slid to the first sliding position, preventing the sliding position of the execution member 4 from deviating, which would cause the locking part 41 to fail to clamp the support part 210.

[0129] In one embodiment, each of the plurality of guide grooves 81 is an arc-shaped groove, with one end of the arc-shaped groove extending toward the docking hole 11 and the other end of the arc-shaped groove extending away from the docking hole 11.

[0130] According to the technology of the present disclosure, setting the guide groove 81 as an arc groove is more conducive to the cooperation with the rotating component 5, so that the rotating component 5 can smoothly drive the execution component 4 to slide in the guide groove 81 when rotating.

[0131] In one example, such as Figures 3 to 6 As shown, the rotating component 5 has a disc-shaped structure and is coaxially arranged with the docking hole 11. The rotating component 5 includes four circumferentially spaced arms 53, one of which has a mating part 52 with multiple teeth on its outer edge. A driving component 6 is positioned corresponding to the mating part 52, and the power output end 61 of the driving component 6 has a gear that meshes with the multiple teeth. The guide component 8 has a disc-shaped structure and is coaxially arranged with the docking hole 11. The guide component 8 includes four circumferentially spaced guide grooves 81, which are fixedly connected to the housing 1 by a support block 82. The four guide grooves 81 are located in the area between the four arms 53, i.e., the four arms 53 and the four guide grooves 81 are staggered. The connecting member 51 has a rod-shaped structure, and there are four connecting members 51 and four actuating components 4. Each actuating component 4 is slidably connected to one guide groove 81, and each connecting member 51 corresponds to one arm 53 and one actuating component 4. One end of the connector 51 is rotatably connected to the support arm 53, and the other end of the connector 51 is rotatably connected to the actuating component 4. It should be noted that the number of support arms 53, the number of connectors 51, the number of actuating components 4, and the data of the guide groove 81 can all be adjusted as needed, and are not limited to four; they can also be set to two, three, five, or even more. The four values ​​in this embodiment are merely illustrative.

[0132] In one instance, such as Figures 7 to 10 The diagram illustrates the entire process of the support portion 210 of the object 200 being locked by the docking mechanism of the movable chassis 100 after it is inserted into the docking hole 11 and falls onto the tray 7. Specifically, when the support portion 210 just falls onto the tray 7, the rotating component 5 is in the second rotating position, and the actuating component 4 is in the second sliding position (e.g., ...). Figure 7(As shown). Subsequently, the driving component 6 drives the rotating component 5 to rotate, and the rotating component 5 in turn drives the actuating component 4 to slide along the guide component 8, so that the driving component 6 gradually rotates from the second rotating position to the first rotating position, and the actuating component 4 gradually slides from the second sliding position to the first sliding position (as shown). Figure 8 , Figure 9 (As shown). When the drive unit rotates to the first rotation position, the actuator 4 slides to the first sliding position. At this time, the multiple locking parts 41 of the multiple actuators 4 together form a locking area and clamp the support 210.

[0133] In one example, such as Figure 3 As shown, the drive wheel 2 can be driven to rotate by the drive motor 21.

[0134] like Figure 12 As shown, this disclosure provides an installation system including: a storage compartment 300, at least one mobile chassis 100 and a control unit 400 according to any embodiment of this disclosure.

[0135] Storage compartment 300 includes compartment body 310, object 200 and conveying device 320. Conveying device 320 is disposed in compartment body 310. Object 200 includes connecting part 220 and supporting part 210 disposed opposite to each other. Connecting part 220 is connected to conveying device 320. Conveying device 320 is used to convey object 200 to outlet of compartment body 310.

[0136] At least one movable chassis 100 of any embodiment of the present disclosure is used to control a plurality of actuators 4 to slide to a first sliding position and clamp the support 210 when the object 200 is released by the conveying device 320 and the support 210 is inserted into the docking hole 11.

[0137] The control unit 400, electrically connected to the mobile chassis 100 and the storage compartment 300, is used to control the movement of the mobile chassis 100 and to control the release of the conveyor 320 from the object 200.

[0138] According to the technology of this disclosure, with the cooperation of the ranging sensor 3 and the docking mechanism of the mobile chassis 100, the support part 210 of the object 200 and the docking hole 11 can be accurately docked and positioned, ensuring the accurate relative position of the docking mechanism and the support part 210 of the object 200, and achieving a stable docking with the support part 210 of the object 200. Multiple locking parts 41 prevent the object 200 from shaking or shifting, improving the connection reliability. This allows the mobile chassis 100 to automatically connect, fix, and transport the object 200 without human intervention. This increases the degree of automation in the application scenarios of the mobile chassis 100, reduces human intervention, and improves the work efficiency of the application scenarios.

[0139] In one application example, the installation system of this disclosure embodiment can be applied to a closed test environment for autonomous driving (driverless driving). It utilizes a mobile chassis 100 to carry obstacles (objects 200) such as dummies, trees, and animals, and moves these obstacles to simulate their movement in a real vehicle driving scenario. The mobile chassis 100's positioning module performs coarse positioning, moving it to the outlet of the storage compartment 300 containing the objects 200. Upon reaching the outlet, the ranging sensor 3 precisely positions the docking hole 11 with the dummy's support 210. The storage compartment then releases the dummy. Once the dummy's support 210 vertically enters the docking hole 11, multiple actuators 4 slide to the first sliding position, enabling rapid docking of the mobile chassis 100 with the dummy. The entire process requires no manual intervention, significantly improving the testing efficiency of the test site.

[0140] In one embodiment, the conveying device 320 includes a conveyor belt with a plurality of magnetic attractors spaced apart on it, each magnetic attractor attracting an object 200. When it is necessary to release the object 200 to connect it to the movable chassis 100, the magnetic force of the magnetic attractors can be eliminated, thereby causing the object 200 to detach from the magnetic attractors and fall vertically, allowing the support part 210 to insert into the docking hole 11.

[0141] According to the technology of this disclosure embodiment, by setting up a conveyor belt, each object 200 can be moved to the outlet in a fast and orderly manner. By setting up a magnetic suction device, the objects 200 can be released quickly.

[0142] like Figure 13 As shown, this disclosure provides a method for docking objects 200, applied to a control unit of an installation system in any embodiment of this disclosure, including:

[0143] Step S1301: Control the mobile chassis 100 to travel to the preset area below the outlet of the storage compartment 300.

[0144] Step S1302: Upon receiving an alignment signal from the mobile chassis 100, the conveying device 320 of the storage compartment 300 is controlled to release the object 200 located at the outlet. The alignment signal is sent when the ranging sensor 3 of the mobile chassis 100 detects that the support portion 210 of the object 200 is aligned with the docking hole 11 of the mobile chassis 100.

[0145] Step S1303: Upon receiving a docking signal from the mobile chassis 100, control the mobile chassis 100 to move away from the preset area. The docking signal is sent when the multiple actuators 4 of the mobile chassis 100 slide to a first sliding position and clamp the support portion 210.

[0146] According to the embodiments of this disclosure, it should be noted that:

[0147] The preset area can be understood as the bottom area corresponding to the vertical falling direction when object 200 is released from the outlet.

[0148] According to the technology of this disclosure, the mobile chassis 100 can automatically connect, fix, and transport the object 200 to be carried without human intervention. This can improve the level of automation in the application scenarios of the mobile chassis 100, reduce human intervention, and improve the work efficiency of the application scenarios.

[0149] In one application example, the object docking method of this disclosure embodiment can be applied to a closed test environment for autonomous driving (driverless driving). It utilizes a mobile chassis 100 to carry obstacles (objects 200) such as dummies, trees, and animals, and moves these obstacles to simulate their movement in a real vehicle driving scenario. The mobile chassis 100's positioning module performs coarse positioning, moving it to the outlet of the storage compartment 300 containing the objects 200. Upon reaching the outlet, a ranging sensor 3 precisely positions the docking hole 11 with the dummy's support 210. The storage compartment then releases the dummy. Once the dummy's support 210 vertically enters the docking hole 11, multiple actuators 4 slide to a first sliding position, achieving rapid docking of the mobile chassis 100 with the object. The entire process requires no manual intervention, significantly improving the testing efficiency of the test site.

[0150] like Figure 14 As shown, this disclosure provides a method for docking objects 200, applied to a mobile chassis of an installation system according to any embodiment of this disclosure, including:

[0151] Step S1401: When the object moves to a preset area below the outlet of the storage compartment 300, the relative position information of the support 210 of the object 200 located at the outlet is detected by the ranging sensor 3.

[0152] Step S1402: When it is determined that the support 210 is aligned with the docking hole 11 based on the relative position information, an alignment signal is sent to the control unit 400 so that the control unit 400 controls the storage compartment 300 to release the object 200 according to the alignment signal.

[0153] Step S1403: When it is determined that the support part 210 of the object 200 is inserted into the docking hole 11, the multiple actuators 4 are controlled to slide to the first sliding position so that the multiple actuators 4 clamp the support part 210.

[0154] According to the embodiments of this disclosure, it should be noted that:

[0155] The preset area can be understood as the bottom area corresponding to the vertical falling direction when object 200 is released from the outlet.

[0156] According to the technology of this disclosure, the mobile chassis 100 can automatically connect, fix, and transport the object 200 to be carried without human intervention. This can improve the level of automation in the application scenarios of the mobile chassis 100, reduce human intervention, and improve the work efficiency of the application scenarios.

[0157] In one application example, the object docking method of this disclosure embodiment can be applied to a closed test environment for autonomous driving (driverless driving). It utilizes a mobile chassis 100 to carry obstacles (objects 200) such as dummies, trees, and animals, and moves these obstacles to simulate their movement in a real vehicle driving scenario. The mobile chassis 100's positioning module performs coarse positioning, moving it to the outlet of the storage compartment 300 containing the objects 200. Upon reaching the outlet, a ranging sensor 3 precisely positions the docking hole 11 with the dummy's support 210. The storage compartment then releases the dummy. Once the dummy's support 210 vertically enters the docking hole 11, multiple actuators 4 slide to a first sliding position, achieving rapid docking of the mobile chassis 100 with the object. The entire process requires no manual intervention, significantly improving the testing efficiency of the test site.

[0158] In one embodiment, after determining that the support portion 210 of the object 200 is inserted into the mating hole 11, the plurality of actuators 4 are controlled to slide to a first sliding position so that the plurality of actuators 4 clamp the support portion 210. Before this, the method further includes:

[0159] If it is determined that the support part 210 and the docking hole 11 are not aligned based on the relative position information, the movement route is determined based on the relative position information and its own coordinate information.

[0160] Upon moving to the target location according to the movement route, an alignment signal is sent to the control unit 400.

[0161] According to the technology of the present disclosure embodiments, by means of multiple ranging sensors 3, the precise positioning of the docking hole 11 and the support part 210 of the object 200 can be accurately realized, ensuring that when the object 200 is released and falls vertically, the support part 210 can accurately fall into the docking hole 11, thereby enabling multiple actuators 4 to further lock the support part 210.

[0162] like Figure 15 As shown, this disclosure provides a method for testing autonomous driving, applied to the installation system of any embodiment of this disclosure, including:

[0163] Step S1501: If it is determined from the test information of the autonomous vehicle that an obstacle is required, control the mobile chassis 100 to drive to the preset area below the outlet of the storage compartment 300.

[0164] Step S1502: Upon receiving an alignment signal from the mobile chassis 100, the conveying device 320 of the storage compartment 300 is controlled to release the object 200, which serves as an obstacle, located at the outlet. The alignment signal is sent when the ranging sensor 3 of the mobile chassis 100 detects that the support portion 210 of the object 200 is aligned with the docking hole 11 of the mobile chassis 100.

[0165] Step S1503: Upon receiving a docking signal from the mobile chassis 100, control the mobile chassis 100 to leave the preset area according to the planned route. The docking signal is sent when the multiple actuators 4 of the mobile chassis 100 slide to a first sliding position and clamp the support 210. The planned route is generated based on obstacle information from the test data.

[0166] According to the embodiments of this disclosure, it should be noted that:

[0167] The preset area can be understood as the bottom area corresponding to the vertical falling direction when object 200 is released from the outlet.

[0168] According to the technology of this disclosure, with the cooperation of the ranging sensor 3 and the docking mechanism of the mobile chassis 100, the support part 210 of the object 200 and the docking hole 11 can be accurately docked and positioned, ensuring the accurate relative position of the docking mechanism and the support part 210 of the object 200, and achieving a stable docking with the support part 210 of the object 200. Multiple locking parts 41 prevent the object 200 from shaking or shifting, improving the connection reliability. This allows the mobile chassis 100 to automatically connect, fix, and transport the object 200 without human intervention. This increases the degree of automation in the application scenarios of the mobile chassis 100, reduces human intervention, and improves the work efficiency of the application scenarios.

[0169] In one application example, autonomous driving testing is crucial in the field of autonomous driving. In closed test tracks, when testing vehicles in extreme scenarios, obstacles such as dummies and fake vehicles are often used to construct the scenario for safety and controllability. To enable the dummies and fake vehicles to move omnidirectionally, an omnidirectional mobile chassis 100 is used as the mobile device. However, the installation of the dummies, fake vehicles, and other obstacles onto the mobile chassis 100 is still done manually, thus limiting the progress of unmanned testing in closed test tracks and making it difficult to achieve true unmanned operation, thus reducing the efficiency of driverless testing. The autonomous driving testing method of this disclosure can be applied to closed test track environments for autonomous driving (driverless driving). It utilizes the mobile chassis 100 to carry obstacles (objects 200) such as dummies, fake trees, and fake animals, and moves these obstacles to simulate the movement of obstacles in real vehicle driving scenarios. The positioning module of the mobile chassis 100 is used for coarse positioning, moving the mobile chassis 100 to the outlet of the storage compartment 300 containing the objects 200. Upon reaching the exit, the distance sensor 3 is used to accurately position the docking hole 11 and the dummy's support 210. Then, the storage compartment releases the dummy. When the dummy's support 210 falls vertically into the docking hole 11, multiple actuators 4 slide to the first sliding position, thereby achieving rapid docking of the mobile chassis 100 with the family member. The entire process requires no manual intervention, which is of great significance and value for improving the testing efficiency of the test site.

[0170] like Figure 16 As shown, this disclosure provides a device for docking objects 200, applicable to the installation system of any embodiment of this disclosure, including:

[0171] The first control module 1601 is used to control the mobile chassis 100 to travel to a preset area below the outlet of the storage compartment 300.

[0172] The second control module 1602 is used to control the conveying device 320 of the storage compartment 300 to release the object 200 located at the outlet when it receives an alignment signal from the mobile chassis 100. The alignment signal is sent when the ranging sensor 3 of the mobile chassis 100 detects that the support part 210 of the object 200 is aligned with the docking hole 11 of the mobile chassis 100.

[0173] The third control module 1603 is used to control the mobile chassis 100 to leave the preset area upon receiving a docking signal from the mobile chassis 100. The docking signal is sent when the multiple actuators 4 of the mobile chassis 100 slide to the first sliding position and clamp the support 210.

[0174] like Figure 17As shown, this disclosure provides a device for docking objects 200, applicable to the installation system of any embodiment of this disclosure, including:

[0175] The detection module 1701 is used to detect the relative position information of the support part 210 of the object 200 located at the outlet of the storage compartment 300 by means of the ranging sensor 3 when the object 200 is moved to a preset area below the outlet of the storage compartment 300.

[0176] The first sending module 1702 is used to send an alignment signal to the control unit 400 when the support 210 is determined to be aligned with the docking hole 11 based on the relative position information, so that the control unit 400 controls the storage compartment 300 to release the object 200 according to the alignment signal.

[0177] The clamping control module 1703 is used to control multiple actuators 4 to slide to a first sliding position when the support part 210 of the object 200 is inserted into the docking hole 11, so that the multiple actuators 4 clamp the support part 210.

[0178] In one embodiment, the device for docking the objects 200 further includes:

[0179] The determination module is used to determine the movement route based on the relative position information and its own coordinate information when it is determined that the support part 210 and the docking hole 11 are not aligned according to the relative position information.

[0180] The second sending module is used to send an alignment signal to the control unit 400 when the target position is reached according to the moving route.

[0181] like Figure 18 As shown, this disclosure provides an apparatus for testing autonomous driving, applied to the installation system of any embodiment of this disclosure, including:

[0182] The first driving control module 1801 is used to control the mobile chassis 100 to drive to a preset area below the outlet of the storage compartment 300 when it is determined from the test information of the autonomous vehicle that an obstacle is required.

[0183] Release module 1802 is used to control the conveying device 320 of storage compartment 300 to release the object 200, which serves as an obstacle, located at the outlet, upon receiving an alignment signal from the mobile chassis 100. The alignment signal is sent when the ranging sensor 3 of the mobile chassis 100 detects that the support portion 210 of the object 200 is aligned with the docking hole 11 of the mobile chassis 100.

[0184] The second driving control module 1803 is used to control the mobile chassis 100 to leave the preset area according to the planned route upon receiving a docking signal from the mobile chassis 100. The docking signal is sent when multiple actuators 4 of the mobile chassis 100 slide to a first sliding position and clamp the support 210. The planned route is generated based on obstacle information from the test data.

[0185] The specific functions and examples of each module and submodule of the apparatus in this disclosure can be found in the relevant descriptions of the corresponding steps in the above method embodiments, and will not be repeated here.

[0186] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0187] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0188] Figure 19 A schematic block diagram of an example electronic device 1900 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0189] like Figure 19 As shown, device 1900 includes a computing unit 1901, which can perform various appropriate actions and processes according to a computer program stored in read-only memory (ROM) 1902 or a computer program loaded into random access memory (RAM) 1903 from storage unit 1908. The RAM 1903 may also store various programs and data required for the operation of device 1900. The computing unit 1901, ROM 1902, and RAM 1903 are interconnected via bus 1904. Input / output (I / O) interface 1905 is also connected to bus 1904.

[0190] Multiple components in device 1900 are connected to I / O interface 1905, including: input unit 1906, such as keyboard, mouse, etc.; output unit 1907, such as various types of monitors, speakers, etc.; storage unit 1908, such as disk, optical disk, etc.; and communication unit 1909, such as network card, modem, wireless transceiver, etc. Communication unit 1909 allows device 1900 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0191] The computing unit 1901 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1901 performs the various methods and processes described above, such as object docking methods and / or autonomous driving testing methods. For example, in some embodiments, the object docking methods and / or autonomous driving testing methods can be implemented as computer software programs tangibly contained in a machine-readable medium, such as storage unit 1908. In some embodiments, part or all of the computer program can be loaded and / or installed on device 1900 via ROM 1902 and / or communication unit 1909. When the computer program is loaded into RAM 1903 and executed by the computing unit 1901, one or more steps of the object docking methods and / or autonomous driving testing methods described above can be performed. Alternatively, in other embodiments, the computing unit 1901 may be configured by any other suitable means (e.g., by means of firmware) to perform object docking methods and / or autonomous driving test methods.

[0192] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0193] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0194] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0195] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0196] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0197] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0198] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0199] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0200] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "multiple" means two or more, unless otherwise explicitly specified.

[0201] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part of a structure. They can refer to a mechanical connection, an electrical connection, or a communication connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0202] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0203] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this disclosure. To simplify this disclosure, the components and arrangements of specific examples are described above. Of course, these are merely examples and are not intended to limit this disclosure. Furthermore, reference numerals and / or reference letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0204] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An installation system, comprising: a storage bin comprising a bin body, an object and a conveying device, the conveying device being arranged in the bin body, the object comprising a connecting portion and a supporting portion arranged oppositely, the connecting portion being connected with the conveying device, the conveying device being used for conveying the object to an outlet of the bin body; at least one mobile chassis used for controlling a plurality of executing components to slide to a first sliding position and clamp the supporting portion in a case that the object is released by the conveying device and the supporting portion is inserted into a docking hole; and a control unit electrically connected with the mobile chassis and the storage bin, used for controlling the movement of the mobile chassis and controlling the conveying device to release the object; the mobile chassis comprising: a housing having the docking hole opened at a top portion, used for accommodating the supporting portion of the object; a plurality of driving wheels arranged along a circumference of the housing; a distance measuring sensor arranged at the top portion, used for detecting the position of the supporting portion; and a docking mechanism comprising a plurality of executing components slidably arranged in the housing, the plurality of executing components being arranged along a circumference of the docking hole, and the plurality of executing components being formed with locking portions at one end close to the docking hole; wherein, in a case that the plurality of executing components slide to the first sliding position, the locking portions of the plurality of executing components are located in the docking hole and jointly enclose a locking area used for clamping the supporting portion.

2. The mounting system of claim 1, wherein, the docking mechanism further comprises a rotating component rotatably arranged in the housing, the rotating component being connected with the plurality of executing components one by one through a plurality of connecting members; wherein, in a case that the rotating component rotates to a first rotating position, the plurality of connecting members drive the plurality of executing components to slide to the first sliding position.

3. The mounting system of claim 2, wherein, each connecting member of the plurality of connecting members is rotatably connected with the rotating component at one end, and rotatably connected with a corresponding executing component at the other end.

4. The mounting system of claim 2, wherein, the mobile chassis further comprises: a driving component arranged in the housing and having a power output end, the power output end being connected with a matching portion of the rotating component, and the power output end driving the rotating component to rotate through the matching portion.

5. The mounting system of claim 4, wherein, the power output end comprises a gear connected with a rotating shaft of the driving component, and the matching portion is provided with a plurality of teeth meshing with the gear.

6. The mounting system of claim 4, wherein, the mobile chassis further comprises: a tray arranged in the housing and corresponding to the position of the docking hole, used for bearing the supporting portion; a gravity sensor connected with the tray and the driving component, used for detecting the gravity change of the tray and sending the detection result to the driving component.

7. The mounting system of any one of claims 1 to 6, wherein, the docking mechanism further comprises a guiding component arranged in the housing, the guiding component comprising a plurality of guiding sliding grooves arranged along the circumference of the docking hole, and the plurality of executing components being slidably arranged in the plurality of guiding sliding grooves one by one.

8. The mounting system of claim 6, wherein, each guiding sliding groove of the plurality of guiding sliding grooves is an arc-shaped groove, one end of the arc-shaped groove extending towards the docking hole, and the other end of the arc-shaped groove extending away from the docking hole.

9. The mounting system of any one of claims 1 to 6, wherein, The distance measuring sensors are at least two and are arranged at intervals along the circumference of the docking hole.

10. The mounting system of any one of claims 1 to 6, wherein, The locking portion of each of the plurality of execution components is arranged in a vertical direction, and the end face shape of the locking portion of each of the plurality of execution components toward one side of the docking hole is adapted to the shape of the outer side wall of the support portion.

11. The mounting system of any one of claims 1 to 6, wherein, The plurality of driving wheels are omni-directional wheels.

12. The mounting system of claim 1, wherein, The conveying device comprises a conveying belt, and a plurality of magnetic members are arranged at intervals on the conveying belt, and each of the plurality of magnetic members is used to adsorb one of the objects.

13. A method for docking objects, applied to the installation system of claim 1, comprising: controlling the mobile chassis to travel to a preset area below the discharge opening of the storage bin; in a case where an alignment signal of the mobile chassis is received, controlling the conveying device of the storage bin to release the object located at the discharge opening; wherein the alignment signal is sent in a case where the distance measuring sensor of the mobile chassis detects that the support portion of the object is aligned with the docking hole of the mobile chassis; and in a case where a docking signal of the mobile chassis is received, controlling the mobile chassis to drive away from the preset area; wherein the docking signal is sent in a case where the plurality of execution components slide to the first sliding position and clamp the support portion.

14. A method for docking objects, applied to the installation system of claim 1, comprising: in a case where the mobile chassis travels to a preset area below the discharge opening of the storage bin, detecting relative position information of the support portion of the object located at the discharge opening by using the distance measuring sensor; in a case where it is determined according to the relative position information that the support portion is aligned with the docking hole, sending an alignment signal to the control unit, so that the control unit controls the storage bin to release the object according to the alignment signal; and in a case where it is determined that the support portion of the object is inserted into the docking hole, controlling the plurality of execution components to slide to the first sliding position, so that the plurality of execution components clamp the support portion.

15. The method of object interfacing of claim 14, wherein, Before the case where it is determined that the support portion of the object is inserted into the docking hole, the plurality of execution components are controlled to slide to the first sliding position, so that the plurality of execution components clamp the support portion, further comprising: in a case where it is determined according to the relative position information that the support portion is not aligned with the docking hole, determining a moving route according to the relative position information and self-coordinate information; in a case where the mobile chassis moves to the target position according to the moving route, sending the alignment signal to the control unit.

16. A method for automatic driving test, applied to the installation system of claim 1, comprising: in a case where it is determined according to test information of the automatic driving vehicle that the obstacle needs to be involved, controlling the mobile chassis to travel to a preset area below the discharge opening of the storage bin; in a case where an alignment signal of the mobile chassis is received, controlling the conveying device of the storage bin to release the object located at the discharge opening for serving as the obstacle; wherein the alignment signal is sent in a case where the distance measuring sensor of the mobile chassis detects that the support portion of the object is aligned with the docking hole of the mobile chassis; and in a case where a docking signal of the mobile chassis is received, controlling the mobile chassis to drive away from the preset area; wherein the docking signal is sent in a case where the plurality of execution components slide to the first sliding position and clamp the support portion. In the case that the docking signal of the mobile chassis is received, the mobile chassis is controlled to drive away from the preset area according to a planned route; wherein the docking signal is sent in the case that the plurality of execution components of the mobile chassis slide to the first sliding position and clamp the support part; and the planned route is generated according to the obstacle information in the test information.

17. An object docking device applied to the installation system of claim 1, comprising: a first control module configured to control the mobile chassis to drive to a preset area below the ejection port of the storage bin; a second control module configured to, in the case that the alignment signal of the mobile chassis is received, control the conveying device of the storage bin to release the object located at the ejection port; wherein the alignment signal is sent in the case that the ranging sensor of the mobile chassis detects that the support part of the object is aligned with the docking hole of the mobile chassis; a third control module configured to, in the case that the docking signal of the mobile chassis is received, control the mobile chassis to drive away from the preset area; wherein the docking signal is sent in the case that the plurality of execution components of the mobile chassis slide to the first sliding position and clamp the support part.

18. An object docking device applied to the installation system of claim 1, comprising: a detection module configured to, in the case of moving to a preset area below the ejection port of the storage bin, detect the relative position information of the support part of the object located at the ejection port by using the ranging sensor; a first sending module configured to, in the case that the support part is determined to be aligned with the docking hole according to the relative position information, send an alignment signal to the control unit, so that the control unit controls the storage bin to release the object according to the alignment signal; a clamping control module configured to, in the case that the support part of the object is determined to be inserted into the docking hole, control the plurality of execution components to slide to the first sliding position, so that the plurality of execution components clamp the support part.

19. The object docking device of claim 18, further comprising: a determination module configured to, in the case that the support part is determined to be misaligned with the docking hole according to the relative position information, determine a moving route according to the relative position information and self-coordinate information; a second sending module configured to, in the case of moving to a target position according to the moving route, send the alignment signal to the control unit.

20. An automatic driving test device applied to the installation system of claim 1, comprising: a first driving control module configured to, in the case that the test information of the automatic driving vehicle determines that the obstacle needs to be involved, control the mobile chassis to drive to a preset area below the ejection port of the storage bin; a release module configured to, in the case that the alignment signal of the mobile chassis is received, control the conveying device of the storage bin to release the object located at the ejection port for serving as the obstacle; wherein the alignment signal is sent in the case that the ranging sensor of the mobile chassis detects that the support part of the object is aligned with the docking hole of the mobile chassis; and A second travel control module is configured to control the mobile chassis to travel away from the preset area according to a planned route upon receiving a docking signal of the mobile chassis, wherein the docking signal is sent when the plurality of execution components of the mobile chassis slide to a first sliding position and clamp the support part; and the planned route is generated according to obstacle information in the test information. 21.An electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 13-16.

22. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 13-16. 23.A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 13-16.

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